Roadmap-based level clearing of buildings

Samuel Rodriguez, Nancy M. Amato

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper we describe a roadmap-based approach for a multi-agent search strategy to clear a building or multi-story environment. This approach utilizes an encoding of the environment in the form of a graph (roadmap) that is used to encode feasible paths through the environment. The roadmap is partitioned into regions, e.g., one per level, and we design region-based search strategies to cover and clear the environment. We can provide certain guarantees within this roadmap-based framework on coverage and the number of agents needed. Our approach can handle complex and realistic environments where many approaches are restricted to simple 2D environments.

Original languageEnglish (US)
Title of host publicationMotion in Games - 4th International Conference, MIG 2011, Proceedings
Number of pages13
StatePublished - 2011
Externally publishedYes
Event4th International Conference on Motion in Games, MIG 2011 - Edinburgh, United Kingdom
Duration: Nov 13 2011Nov 15 2011

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7060 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference4th International Conference on Motion in Games, MIG 2011
Country/TerritoryUnited Kingdom

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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