Intruder Capturing Game on a Topological Map Assisted by Information Networks

Abstract—Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper bounds for the minimum number of searchers required to capture all intruders on a Voronoi graph. Intruder capturing algorithms are proposed and demonstrated through an online computer game. I