使用滑动机器人清除正交多边形
Clearing an Orthogonal Polygon Using Sliding Robots
摘要：
在多机器人系统中，多个自主机器人将感知、通信并决定在给定的域内移动以实现共同的目标。在本文中，我们考虑一个新的变种的追求-逃避问题，其中的机器人（追求者）每个来回移动沿一个简单的正交多边形$P$内的正交线段。如果存在点$q\in s$使得$\overline{pq}$是垂直于$s$的线段，则点$p$可以被沿着线段s移动的滑动机器人覆盖。在追逃问题中，给定一个多边形区域，一个被称为追捕者的机器人试图找到一些被称为逃避者的移动目标。这个问题的目标是设计一个运动策略的追求者，使它可以检测到所有的逃避者。我们假设$P$包括不可预测的、移动的、具有无限速度的逃避者。我们提出了一种运动规划算法的一组滑动机器人，假设他们沿着预先定位的线段以恒定的速度移动，以检测所有的规避者与无限的速度。
英文摘要：
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots (pursuers) each move back and forth along an orthogonal line segment inside a simple orthogonal polygon $P$. A point $p$ can be covered by a sliding robot that moves along a line segment s, if there exists a point $q\in s$ such that $\overline{pq}$ is a line segment perpendicular to $s$. In the pursuit-evasion problem, a polygonal region is given and a robot called a pursuer tries to find some mobile targets called evaders. The goal of this problem is to design a motion strategy for the pursuer such that it can detect all the evaders. We assume that $P$ includes unpredictable, moving evaders that have unbounded speed. We propose a motion-planning algorithm for a group of sliding robots, assuming that they move along the pre-located line segments with a constant speed to detect all the evaders with unbounded speed.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
