Binay K. Bhattacharya, Tsunehiko Kameda, John Z. Zhang. Surveillance of a polygonal area by a mobile searcher from the boundary: Searchability testing. In 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009. pages 2461-2466, IEEE, 2009. [doi]
Abstract is missing.