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.

翻译：本文研究利用多个搜索机器人在几何区域内搜寻入侵者的问题。该区域为简单连通正交多边形，其边平行于笛卡尔坐标轴。每个机器人具备有限感知能力。我们分别针对静态与移动入侵者展开研究。结果表明，即使对于静止入侵者，搜寻问题亦属于NP难问题。鉴于该问题的计算复杂性，我们转而致力于开发高效鲁棒的算法，包括基于空间填充曲线、随机搜索及协同随机搜索的方法。此外，针对每种算法，我们在考虑连通正交搜索区域几何特性的同时，评估了搜索机器人数量与完成搜索所需时间之间的权衡关系。