Multi-robot searching with limited sensing range for static and mobile intruders

Swadhin Agrawal, Sujoy Bhore, Joseph S. B. Mitchell, P. B. Sujit, Aayush Gohil
11/5/2025
cs.ROcs.CGcs.CR

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Abstract

We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a limited sensing capability. We study the problem for both static and mobile intruders. It turns out that the problem of finding an intruder is NP-hard, even for a stationary intruder. Given this intractability, we turn our attention towards developing efficient and robust algorithms, namely methods based on space-filling curves, random search, and cooperative random search. Moreover, for each proposed algorithm, we evaluate the trade-off between the number of search robots and the time required for the robots to complete the search process while considering the geometric properties of the connected orthogonal search area.

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Cite this paper

@article{agrawal2025multirobot,
  title  = {Multi-robot searching with limited sensing range for static and mobile intruders},
  author = {Swadhin Agrawal and Sujoy Bhore and Joseph S. B. Mitchell and P. B. Sujit and Aayush Gohil},
  year   = {2025},
  eprint = {2511.03622},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2511.03622v1}
}

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