J. J. Acevedo, C. Begona, I. Arrue, A. Maza, and . Ollero, A decentralized algorithm for area surveillance missions using a team of aerial robots with different sensing capabilities, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.4735-4740, 2014.
DOI : 10.1109/ICRA.2014.6907552

N. Agmon, S. Kraus, and G. A. Kaminka, Multi-robot perimeter patrol in adversarial settings, 2008 IEEE International Conference on Robotics and Automation, pp.2339-2345, 2008.
DOI : 10.1109/ROBOT.2008.4543563

M. A. Marzouqi and R. A. Jarvis, Robotic covert path planning: A survey, 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM), pp.77-82, 2011.
DOI : 10.1109/RAMECH.2011.6070460

S. Alamdari, E. Fata, and S. L. Smith, Persistent monitoring in discrete environments: Minimizing the maximum weighted latency between observations, The International Journal of Robotics Research, vol.16, issue.2, 2013.
DOI : 10.1109/TRO.2012.2201293

R. Alami, F. Robert, F. Ingrand, and S. Suzuki, Multi-robot cooperation through incremental plan-merging, Proceedings of 1995 IEEE International Conference on Robotics and Automation, pp.2573-2579, 1995.
DOI : 10.1109/ROBOT.1995.525645

S. Alexander, R. Bishop, and . Ghrist, Capture pursuit games on unbounded domains, L???Enseignement Math??matique, vol.55, issue.1
DOI : 10.4171/LEM/55-1-5

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.136.6574

S. Alexander, R. Bishop, and . Ghrist, Total curvature and simple pursuit on domains of curvature bounded above, Geometriae Dedicata, vol.18, issue.5, pp.1-15, 2010.
DOI : 10.1007/s10711-010-9481-z

S. Alexander, R. Bishop, and R. Ghrist, Pursuit and evasion in non-convex domains of arbitrary dimensions, Robotics: Science and Systems II, 2006.
DOI : 10.15607/RSS.2006.II.015

B. Alspach, Searching and sweeping graphs : a brief survey, pp.5-37, 2006.

F. Amigoni and N. Basilico, A Decision-Theoretic Framework to Select Effective Observation Locations in Robotic Search and Rescue Scenarios, IEEE International Conference on Robotics and Automation (ICRA), 2010.

F. Amigoni, N. Basilico, and N. Gatti, Finding the optimal strategies for robotic patrolling with adversaries in topologically-represented environments, 2009 IEEE International Conference on Robotics and Automation, 2009.
DOI : 10.1109/ROBOT.2009.5152497

F. Amigoni, N. Basilico, and A. Li, How much worth is coordination of mobile robots for exploration in search and rescue ? RoboCup 2012 : Robot Soccer World Cup XVI, 2013.

J. Annas and J. Xiao, Intelligent pursuit & evasion in an unknown environment, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4899-4906, 2009.
DOI : 10.1109/IROS.2009.5354246

J. Annas and J. Xiao, Intelligent Pursuit & Evasion in Unknown Environments Against Human Players -extended abstract, IEEE International Conference on Robotics and Automation (ICRA), 2010.

K. Hannaneh-najd-ataei, M. Ziarati, and . Eghtesad, A BSO-Based Algorithm for Multi-robot and Multi-target Search, Recent Trends in Applied Artificial Intelligence, pp.312-321, 2013.
DOI : 10.1007/978-3-642-38577-3_32

S. Balakirsky, Usarsim : a robocup virtual urban search and rescue competition. Defense and Security Symposium, 2007.

T. Bandyopadhyay and M. H. Ang, A greedy strategy for tracking a locally predictable target among obstacles, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.2342-2347, 2006.
DOI : 10.1109/ROBOT.2006.1642052

T. Bandyopadhyay, Y. Li, M. H. Ang, and D. Hsu, A greedy strategy for tracking a locally predictable target among obstacles, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.2342-2347, 2006.
DOI : 10.1109/ROBOT.2006.1642052

T. Bandyopadhyay, M. H. , A. Jr, and D. Hsu, Stealth Tracking of an Unpredictable Target among Obstacles, Algorithmic Foundations of Robotics VI, pp.43-58, 2005.
DOI : 10.1007/10991541_5

T. Bandyopadhyay, N. Rong, M. Ang, D. Hsu, and W. Lee, Motion Planning for People Tracking in Uncertain and Dynamic Environments, IEEE International Conference on Robotics and Automation (ICRA), 2009.

T. Bandyopadhyay, D. Mh-ang-jr, and . Hsu, Motion planning for 3D target tracking among obstacles, Robotics Research, 2011.

J. Stanley, M. G. Benkoski, J. R. Monticino, and . Weisinger, A survey of the search theory literature, Naval Research Logistics (NRL), vol.38, issue.4, pp.469-494, 1991.

S. Bhattacharya and S. Hutchinson, On the Existence of Nash Equilibrium for a Two-player Pursuit???Evasion Game with Visibility Constraints, The International Journal of Robotics Research, vol.57, issue.1, pp.831-839, 2009.
DOI : 10.1177/0278364909354628

S. Bhattacharya and S. Hutchinson, On the Existence of Nash Equilibrium for a Two Player Pursuit-Evasion Game with Visibility Constraints, Algorithmic Foundation of Robotics VIII, pp.251-265, 2009.
DOI : 10.1007/978-3-642-00312-7_16

S. Bhattacharya, S. Candido, and S. Hutchinson, Motion Strategies for Surveillance, Robotics: Science and Systems III, 2007.
DOI : 10.15607/RSS.2007.III.032

S. Bhattacharya, R. Ghrist, and V. Kumar, Multi-robot coverage and exploration on Riemannian manifolds with boundaries, The International Journal of Robotics Research, vol.8, issue.1, pp.113-137, 2013.
DOI : 10.1017/CBO9780511546877

S. Bhattacharya, S. Candido, and S. Hutchinson, Motion Strategies for Surveillance, Robotics: Science and Systems III, 2007.
DOI : 10.15607/RSS.2007.III.032

L. Blin, J. Burman, and N. Nisse, Nettoyage perpétuel de réseaux, 14èmes Rencontres Francophones sur les Aspects Algorithmiques des Télécommunications, 2011.

D. Shaunak, F. Bopardikar, J. P. Bullo, and . Hespanha, Cooperative pursuit with sensing limitations, American Control Conference (ACC), pp.5394-5399, 2007.

R. Borie, C. Tovey, and S. Koenig, Algorithms and complexity results for graph-based pursuit evasion, Autonomous Robots, vol.18, issue.5, pp.317-332, 2011.
DOI : 10.1007/s10514-011-9255-y

R. Boumghar, Strategies d'acquisition d'information pour la navigation autonome cooperative en environnement inconnu, 2013.
URL : https://hal.archives-ouvertes.fr/tel-01020995

A. Rodney and . Brooks, How to build complete creatures rather than isolated cognitive simulators . Architectures for intelligence, pp.225-239, 1991.

P. Brugger, Variables that influence the generation of random sequences : An update. Perceptual and motor skills, pp.627-661, 1997.

Z. Cai, . Ln-sun, P. Gao, and . Zhou, Multi-robot Cooperative Pursuit Based on Task Bundle Auctions. Intelligent Robotics and Applications Cooperative Hunting by Distributed Mobile Robots Based on Local Interaction, IEEE Transactions on Robotics, vol.22, issue.2, pp.235-244403, 2006.

D. Casbeer and D. Kingston, Cooperative forest fire surveillance using a team of small unmanned air vehicles, International Journal of Systems Science, vol.37, issue.6, 2006.
DOI : 10.1109/TAC.2005.854640

I. Chao, L. Bruce, . Golden, A. Edward, and . Wasil, A fast and effective heuristic for the orienteering problem, European Journal of Operational Research, vol.88, issue.3, pp.475-489, 1996.
DOI : 10.1016/0377-2217(95)00035-6

H. Han-lim, L. Choi, J. P. Brunet, and . How, Consensus-Based Decentralized Auctions for Robust Task Allocation, IEEE Transactions on Robotics, vol.25, issue.4, pp.912-926, 2009.
DOI : 10.1109/TRO.2009.2022423

H. Chu, A. Glad, O. Simonin, and F. Sempe, Alexis Drogoul, and François Charpillet. Swarm approaches for the patrolling problem, information propagation vs. pheromone evaporation, IEEE International Conference on Tools with Artificial Intelligence (ICTAI), pp.442-449, 2007.

T. H. Chung, G. A. Hollinger, and V. Isler, Search and pursuit-evasion in mobile robotics, Autonomous Robots, vol.21, issue.1, pp.299-316, 2011.
DOI : 10.1007/s10514-011-9241-4

J. Clark and R. Fierro, Mobile robotic sensors for perimeter detection and tracking, ISA Transactions, vol.46, issue.1, pp.3-13, 2007.
DOI : 10.1016/j.isatra.2006.08.001

D. T. Cole, P. Thompson, A. Haydar-göktogan, and S. Sukkarieh, System Development and Demonstration of a Cooperative UAV Team for Mapping and Tracking, The International Journal of Robotics Research, vol.29, issue.11, pp.1371-1399, 2010.
DOI : 10.1177/0278364910364685

A. Cowley, H. Hsu, and C. J. Taylor, Distributed sensor databases for multi-robot teams, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004.
DOI : 10.1109/ROBOT.2004.1307229

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.493.388

K. Daniel, R. Borie, S. Koenig, and C. Tovey, ESP : Pursuit Evasion on Series-Parallel Graphs (Extended Abstract), International Conference on Autonomous Agents and Multiagent Systems (AAMAS), pp.4-5, 2010.

J. Derenick, J. Spletzer, and A. Hsieh, An Optimal Approach to Collaborative Target Tracking with Performance Guarantees, Journal of Intelligent and Robotic Systems, vol.100, issue.1, pp.47-67, 2009.
DOI : 10.1007/s10846-008-9302-x

M. Dias, R. Zlot, N. Kalra, and A. Stentz, Market-Based Multirobot Coordination: A Survey and Analysis, Proceedings of the IEEE, pp.1257-1270, 2006.
DOI : 10.1109/JPROC.2006.876939

C. Dornhege, A. Kleiner, and A. Kolling, Coverage search in 3D, 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp.1-8, 2013.
DOI : 10.1109/SSRR.2013.6719340

W. Joseph, A. Durham, F. Franchi, and . Bullo, Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers, Autonomous Robots, 2011.

J. H. Eaton and L. Zadeh, Optimal Pursuit Strategies in Discrete-State Probabilistic Systems, Journal of Basic Engineering, vol.84, issue.1, pp.23-29, 1962.
DOI : 10.1115/1.3657260

G. Echeverria, S. Lemaignan, A. Degroote, S. Lacroix, M. Karg et al., Simulating Complex Robotic Scenarios with MORSE, Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp.197-208, 2012.
DOI : 10.1007/978-3-642-34327-8_20

URL : https://hal.archives-ouvertes.fr/hal-00988475

F. Ehlers, Multi-Robot Teamwork in Multistatic Sonar, ICRA Workshop : Search and Pursuit/Evasion in the Physical World, 2010.

T. Eiter and H. Mannila, Computing Discrete Frechet Distance, 1994.

A. B. El-rayes, A. El-moneim, A. Mohamed, and H. M. Gabal, Linear Search for a Brownian target motion, Acta Mathematica Scientia, vol.23, issue.3, pp.321-327, 2003.

Y. Elmaliach, N. Agmon, A. Gal, and . Kaminka, Multi-robot area patrol under frequency constraints, Annals of Mathematics and Artificial Intelligence, vol.37, issue.1, pp.293-320, 2009.
DOI : 10.1007/s10472-010-9193-y

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.116.4842

K. Erol, Hierarchical Task Network Planning : Formalization, Analysis, and Implementation, 1996.

P. Fazli, A. Davoodi, P. Pasquier, and A. K. Mackworth, Fault-Tolerant Multi-Robot Area Coverage with Limited Visibility, ICRA Workshop : Search and Pursuit/Evasion in the Physical World, 2010.

S. Ferrari, R. Fierro, and D. Tolic, A geometric optimization approach to tracking maneuvering targets using a heterogeneous mobile sensor network, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, pp.1080-1087, 2009.
DOI : 10.1109/CDC.2009.5400166

E. Feo-flushing, L. Gambardella, and G. Caro, GIS-based Mission Support System for Wilderness Search and Rescue with Heterogeneous Agents, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Robots and Sensors integration in future rescue INformation system (ROSIN), p.237, 2012.

R. Seng-keat-gan, S. Fitch, and . Sukkarieh, Real-time decentralized search with inter-agent collision avoidance, IEEE International Conference on Robotics and Automation (ICRA), pp.504-510, 2012.

P. Brian, S. Gerkey, G. Thrun, and . Gordon, Visibility-based pursuit-evasion with limited field of view, International Journal of Robotics Research (IJRR), vol.1, issue.c, pp.20-27, 2006.

K. Subir and . Ghosh, Approximation algorithms for art gallery problems in polygons, Conference on Discrete Mathematics, 2009.

A. Glad, O. Simonin, O. Buffet, and F. Charpillet, Theoretical Study of Ant-based Algorithms for Multi-Agent Patrolling, Proceedings -2008 European Conference on Artificial Intelligence, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00326963

A. Glad, O. Simonin, O. Buffet, and F. Charpillet, Influence of Different Execution Models on Patrolling Ant Behaviors : from Agents to Robots, International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2010.

H. González-baños and J. Latombe, A randomized art-gallery algorithm for sensor placement, Proceedings of the seventeenth annual symposium on Computational geometry , SCG '01, 2001.
DOI : 10.1145/378583.378674

B. Grocholsky, R. Swaminathan, J. Keller, V. Kumar, and G. Pappas, Information Driven Coordinated Air-Ground Proactive Sensing, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.2223-2228, 2005.
DOI : 10.1109/ROBOT.2005.1570441

J. Hereford and M. Siebold, Bio-inspired search strategies for robot swarms, Swarm Robotics, From Biology to Robotics, 2010.

P. Joao, H. J. Hespanha, S. Kim, and . Sastry, Multiple-agent probabilistic pursuitevasion games, IEEE Conference on Decision and Control (CDC), 1999.

G. Hollinger, S. Singh, J. Djugash, and . Kehagias, Efficient Multi-robot Search for a Moving Target, The International Journal of Robotics Research, vol.28, issue.2, pp.201-219, 2009.
DOI : 10.1177/0278364908099853

G. Hollinger and S. Singh, Multi-robot coordination with periodic connectivity, 2010 IEEE International Conference on Robotics and Automation, 2010.
DOI : 10.1109/ROBOT.2010.5509175

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.188.87

G. Hollinger, A. Kehagias, and S. Singh, GSST: anytime guaranteed search, Autonomous Robots, vol.17, issue.3, pp.99-118, 2010.
DOI : 10.1007/s10514-010-9189-9

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.174.2576

A. Geoffrey, S. Hollinger, and . Singh, Multirobot Coordination With Periodic Connectivity : Theory and Experiments, IEEE Transactions on Robotics, vol.28, issue.4, pp.967-973, 2012.

G. Infantes, C. Lesire, and C. Pralet, Multi-Robot Planning and Execution for an Exploration Mission : a Case Study, ICAPS 2014 PlanRob Workshop, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01079780

V. Isler, S. Khanna, J. Spletzer, J. Camillo, and . Taylor, Target Tracking with Distributed Sensors : The Focus of Attention Problem, Computer Vision and Image Understanding, pp.1-37, 2005.

M. Israel, E. Khmelnitsky, and E. Kagan, Search for a mobile target by ground vehicle on a topographic terrain, 2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, 2012.
DOI : 10.1109/EEEI.2012.6377123

A. Jacoff, E. Messina, B. A. Weiss, S. Tadokoro, and Y. Nakagawa, Test arenas and performance metrics for urban search and rescue robots, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp.3396-3403, 2003.
DOI : 10.1109/IROS.2003.1249681

J. S. Jennings, G. Whelan, F. William, and . Evans, Cooperative search and rescue with a team of mobile robots, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97, pp.193-200, 1997.
DOI : 10.1109/ICAR.1997.620182

B. Jung, S. Gaurav, and . Sukhatme, Tracking Targets Using Multiple Robots : The Effect of Environment Occlusion, Autonomous Robots, pp.191-205, 2002.

N. Kalra, D. Ferguson, and A. Stentz, Hoplites: A Market-Based Framework for Planned Tight Coordination in Multirobot Teams, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.
DOI : 10.1109/ROBOT.2005.1570274

S. Kamath, E. Meisner, and V. Isler, Triangulation Based Multi Target Tracking with Mobile Sensor Networks, Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007.
DOI : 10.1109/ROBOT.2007.363979

S. Karaman and E. Frazzoli, Incremental sampling-based algorithms for a class of pursuitevasion games, Algorithmic Foundations of Robotics IX, 2011.

N. Karnad and V. Isler, Lion and man game in the presence of a circular obstacle, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5045-5050, 2009.
DOI : 10.1109/IROS.2009.5354443

M. Katsev, A. Yershova, B. Tovar, R. Ghrist, M. Steven et al., Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot, IEEE Transactions on Robotics, vol.27, issue.1, pp.113-128, 2011.
DOI : 10.1109/TRO.2010.2095570

F. Katsilieris, D. Lindhé, and . Dimarogonas, Demonstration of multi-robot search and secure, IEEE International Conference on Robotics and Automation (ICRA), 2010.

S. Kloder and S. Hutchinson, Barrier coverage for variable bounded-range line-ofsight guards, IEEE International Conference on Robotics and Automation (ICRA), pp.10-14, 2007.

N. Koenig and A. Howard, Design and use paradigms for gazebo, an opensource multi-robot simulator, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2149-2154, 2004.

A. Kolling and S. Carpin, Extracting surveillance graphs from robot maps, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2323-23284650763, 2008.
DOI : 10.1109/IROS.2008.4650763

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.657.8977

A. Kolling, M. Kleiner, K. Lewis, and . Sycara, Pursuit-evasion in 2.5d based on team-visibility, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010.
DOI : 10.1109/IROS.2010.5649270

A. Kolling and S. Carpin, Cooperative Observation of Multiple Moving Targets: an algorithm and its formalization, The International Journal of Robotics Research, vol.26, issue.9, pp.935-953, 2007.
DOI : 10.1177/0278364907080424

A. Kolling and S. Carpin, Pursuit-Evasion on Trees by Robot Teams, IEEE Transactions on Robotics, vol.26, issue.1, pp.32-47, 2009.
DOI : 10.1109/TRO.2009.2035737

A. Kolling and S. Carpin, Multi-robot pursuit-evasion without maps, 2010 IEEE International Conference on Robotics and Automation, 2010.
DOI : 10.1109/ROBOT.2010.5509318

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.654.9497

H. Kurniawati, D. Hsu, and W. Lee, SARSOP: Efficient Point-Based POMDP Planning by Approximating Optimally Reachable Belief Spaces, Robotics: Science and Systems IV, 2008.
DOI : 10.15607/RSS.2008.IV.009

A. Lapaugh, Recontamination does not help, 1982.

M. Steven, . Lavalle, H. Hector, C. Gonzales-banos, J. Becker et al., Motion Strategies for Maintaining Visibility of a Moving Target, IEEE International Conference on Robotics and Automation (ICRA), pp.731-736, 1997.

A. N. Letchford, S. D. Nasiri, and D. O. Theis, Compact formulations of the Steiner Traveling Salesman Problem and related problems, European Journal of Operational Research, vol.228, issue.1, pp.83-92
DOI : 10.1016/j.ejor.2013.01.044

T. Jeffrey, A. Linderoth, and . Lodi, MILP software. Wiley encyclopedia of operations research and management science, 2010.

M. Liu, F. Colas, L. Oth, and R. Siegwart, Incremental topological segmentation for semi-structured environments using discretized GVG, Autonomous Robots, vol.44, issue.1, pp.143-160, 2015.
DOI : 10.1007/s10514-014-9398-8

URL : https://hal.archives-ouvertes.fr/hal-01143466

M. Mamei and F. Zambonelli, Spreading pheromones in everyday environments through RFID technology, IEEE Swarm Intelligence Symposium (SIS), pp.281-288, 2005.

S. Markov and S. Carpin, A cooperative distributed approach to target motion control in multirobot observation of multiple targets, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
DOI : 10.1109/IROS.2007.4399159

N. Megiddo, S. L. Hakimi, M. R. Garey, D. S. Johnson, and C. H. Papadimitriou, The Complexity of Searching a Graph, Journal ofthe Association for Computing Machinery, 1988.

B. Meindl and M. Templ, Analysis of commercial and free and open source solvers for linear optimization problems. Eurostat and Statistics Netherlands within the project ESSnet on common tools and harmonised methodology for SDC in the ESS, 2012.

Y. Miao, A study of mobility models in mobile surveillance systems, 2010.

Y. Miao, A. Khamis, and M. S. Kamel, Applying anti-flocking model in mobile surveillance systems, 2010 International Conference on Autonomous and Intelligent Systems, AIS 2010, 2010.
DOI : 10.1109/AIS.2010.5547036

C. E. Miller, A. W. Tucker, and R. A. Zemlin, Integer Programming Formulation of Traveling Salesman Problems, Journal of the ACM, vol.7, issue.4, pp.326-329, 1960.
DOI : 10.1145/321043.321046

M. Faraz, A. I. Mirzaei, S. I. Mourikis, and . Roumeliotis, On the performance of multi-robot target tracking, IEEE International Conference on Robotics and Automation (ICRA), 2007.

M. Moors, D. Rohling, and . Schulz, A probabilistic approach to coordinated multirobot indoor surveillance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005.

M. B. Moseley, B. P. Grocholsky, C. Cheung, and S. Singh, Integrated long-range UAV/UGV collaborative target tracking, Unmanned Systems Technology XI, p.241, 2009.
DOI : 10.1117/12.820289

R. Alejandro and . Mosteo, Multi-Robot Task Allocation for Service Robotics : from Unlimited to Limited Communication Range, 2010.

R. Mottaghi and R. Vaughan, An integrated particle filter and potential field method applied to cooperative multi-robot target tracking, Autonomous Robots, vol.128, issue.1???2, pp.19-35, 2007.
DOI : 10.1007/s10514-007-9028-9

R. M. Murray, Recent Research in Cooperative Control of Multivehicle Systems, Journal of Dynamic Systems, Measurement, and Control, vol.129, issue.5, p.571, 2007.
DOI : 10.1115/1.2766721

R. Murrieta, A. Sarmiento, S. Bhattacharya, and S. Hutchinson, Maintaining visibility of a moving target at a fixed distance: the case of observer bounded speed, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.479-484, 2004.
DOI : 10.1109/ROBOT.2004.1307195

R. Murrieta-cid, B. Tovar, and S. Hutchinson, A Sampling-Based Motion Planning Approach to Maintain Visibility of Unpredictable Targets, Autonomous Robots, vol.18, issue.5, pp.285-300, 2005.
DOI : 10.1007/s10514-005-4052-0

R. Murrieta-cid, T. Muppirala, A. Sarmiento, S. Bhattacharya, and S. Hutchinson, Surveillance Strategies for a Pursuer with Finite Sensor Range, The International Journal of Robotics Research, vol.18, issue.5, pp.233-253, 2007.
DOI : 10.1177/0278364907077083

R. Murrieta-cid, R. Sarmiento, S. Bhattacharya, and S. Hutchinson, Surveillance Strategies for a Pursuer with Finite Sensor Range, The International Journal of Robotics Research, vol.18, issue.5, 2007.
DOI : 10.1177/0278364907077083

R. Murrieta-cid, R. Monroy, S. Hutchinson, and J. Laumond, A Complexity result for the pursuit-evasion game of maintaining visibility of a moving evader, 2008 IEEE International Conference on Robotics and Automation, pp.2657-2664, 2008.
DOI : 10.1109/ROBOT.2008.4543613

R. Murrieta-cid, R. Monroy, S. Hutchinson, and J. , A Complexity result for the pursuit-evasion game of maintaining visibility of a moving evader, 2008 IEEE International Conference on Robotics and Automation, 2008.
DOI : 10.1109/ROBOT.2008.4543613

R. Murrieta-cid, H. Hector, B. Gonzales-banos, and . Tovar, A reactive motion planner to maintain visibility of unpredictable targets, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002.
DOI : 10.1109/ROBOT.2002.1014421

R. Murrieta-cid, U. Ruiz, J. L. Marroquin, J. Laumond, and S. Hutchinson, Tracking an omnidirectional evader with a differential drive robot, Autonomous Robots, vol.18, issue.5, pp.345-366, 2011.
DOI : 10.1007/s10514-011-9246-z

J. Paul and . Nahin, Chases and Escapes : The Mathematics of Pursuit and Evasion (New in Paper), 2012.

E. Nettleton, Decentralised architectures for tracking and navigation with multiple flight vehicles, 2003.

N. Noori and V. Isler, Lion and man with visibility in monotone polygons, The International Journal of Robotics Research, vol.27, issue.11, pp.155-181, 2014.
DOI : 10.1177/0278364913498291

A. Ohsumi, Optimal search for a Markovian target, AID-NAV32203804073.0.CO, pp.531-5542, 1991.
DOI : 10.1002/1520-6750(199108)38:4<531::AID-NAV3220380407>3.0.CO;2-L

J. O-'rourke, Art gallery theorems and algorithms, 1987.

T. Oskam, R. W. Sumner, N. Thuerey, and M. Gross, Visibility transition planning for dynamic camera control, SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2009.
DOI : 10.1007/978-3-642-16958-8_30

M. Owen, H. Yu, T. Mclain, and R. Beard, Moving ground target tracking in urban terrain using air/ground vehicles. Globecom Workshops, pp.1816-1820, 2010.

P. Nikolaos, P. K. Papanikolopoulos, T. Khosla, and . Kanade, Visual tracking of a moving target by a camera mounted on a robot : A combination of control and vision, IEEE Transactions on Robotics and Automation, vol.9, issue.1, pp.14-35, 1993.

E. Lynne and . Parker, Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets, Autonomous Robots, pp.231-255, 2002.

L. E. Parker and B. A. Emmons, Cooperative Multi-Robot Observation, IEEE International Conference on Robotics and Automation (ICRA), pp.2082-2089, 1997.
DOI : 10.1109/robot.1997.619270

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.21.1222

T. Parsons, Pursuit-evasion in a graph Theory and applications of graphs, 1978.

F. Pasqualetti, A. Franchi, and F. Bullo, On optimal cooperative patrolling, 49th IEEE Conference on Decision and Control (CDC), pp.7153-7158, 2010.
DOI : 10.1109/CDC.2010.5717873

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.352.4716

G. Pataki, Teaching Integer Programming Formulations Using the Traveling Salesman Problem, SIAM Review, vol.45, issue.1, pp.116-123, 2003.
DOI : 10.1137/S00361445023685

N. Pelekis, I. Kopanakis, G. Marketos, I. Ntoutsi, G. Andrienko et al., Similarity Search in Trajectory Databases, 14th International Symposium on Temporal Representation and Reasoning (TIME'07), pp.129-14059, 2007.
DOI : 10.1109/TIME.2007.59

C. Luciano, M. Pimenta, Q. Schwager, V. Lindsey, D. Kumar et al., Simultaneous coverage and tracking (SCAT) of moving targets with robot networks, Algorithmic Foundation of Robotics VIII, pp.85-99, 2010.

P. Pirjanian and M. Mataric, Multi-robot target acquisition using multiple objective behavior coordination, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.2696-2702, 2000.
DOI : 10.1109/ROBOT.2000.846435

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.42.1968

J. Pita, M. Jain, C. Ordónez, and . Portway, Using game theory for Los Angeles airport security. AI Magazine, pp.43-57, 2009.

D. Portugal and R. Rocha, MSP algorithm, Proceedings of the 2010 ACM Symposium on Applied Computing, SAC '10, pp.1271-1276, 2010.
DOI : 10.1145/1774088.1774360

D. Portugal and R. Rocha, A survey on multi-robot patrolling algorithms. Technological Innovation for Sustainability, pp.139-146, 2011.

D. Portugal and R. P. Rocha, Distributed multi-robot patrol : A scalable and faulttolerant framework, Robotics and Autonomous Systems, 2013.

C. Poulet, Coordination dans les systèmes multi-agents : Le problème de la patrouille en système ouvert

J. Pugh and A. Martinoli, Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization, 2007 IEEE Swarm Intelligence Symposium, pp.332-339, 2007.
DOI : 10.1109/SIS.2007.367956

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.165.1027

. Kun-qian, X. Ma, and . Dai, Simultaneous robot Localization and Person Tracking using Rao-Blackwellised Particle Filters with multi-modal sensors, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.22-26, 2008.
DOI : 10.1109/IROS.2008.4650771

M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote et al., ROS : an open-source Robot Operating System. ICRA Workshop on open source software, 2009.

E. Raboin, D. Nau, U. Kuter, K. Satyandra, P. Gupta et al., Strategy generation in multi-agent imperfect-information pursuit games, International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2010.

E. Raboin, U. Kuter, S. Dana, and . Nau, Generating strategies for multi-agent pursuitevasion games in partially observable euclidean space, International Conference on Autonomous Agents and Multiagent Systems (AAMAS), pp.1201-1202, 2012.

R. Rasmussen, TSP in spreadsheets???A fast and flexible tool, Omega, vol.39, issue.1, pp.51-63, 2011.
DOI : 10.1016/j.omega.2010.02.004

A. Renzaglia, Adaptive stochastic optimization for cooperative coverage with a swarm of Micro Aerial Vehicles, 2012.

J. R. Riehl, G. E. Collins, and J. P. Hespanha, Cooperative graph-based model predictive search, 2007 46th IEEE Conference on Decision and Control, pp.2998-3004, 2007.
DOI : 10.1109/CDC.2007.4435025

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.120.6150

C. Robin and S. Lacroix, Failure anticipation in pursuit-evasion, Robotics: Science and Systems VIII, 2012.
DOI : 10.15607/RSS.2012.VIII.046

URL : https://hal.archives-ouvertes.fr/hal-00988333

C. Robin and S. Lacroix, Anticipating failures in realistic pursuit-evasion, 14ème Congrès des doctorants EDSYS, 2013.

C. Robin and S. Lacroix, Multi-robot target detection and tracking: taxonomy and survey, Autonomous Robots, vol.27, issue.4, 2014.
DOI : 10.1007/s10514-015-9491-7

URL : https://hal.archives-ouvertes.fr/hal-01183372

C. Robin and S. Lacroix, Multi-robot target detection and tracking: taxonomy and survey, European Conference on Artificial Intelligence (ECAI), Workshop on Multi-Agent Coordination in Robotic Exploration (MACOREX), 2014.
DOI : 10.1007/s10514-015-9491-7

URL : https://hal.archives-ouvertes.fr/hal-01183372

N. Roy, S. Gordon, and . Thrun, Finding approximate POMDP solutions through belief compression, Journal of Artificial Intelligence Research, 2005.

C. Sui-ruan, F. Meirina, . Yu, R. Pattipati, and . Popp, Patrolling in a stochastic environment, 2005.

E. Paul, . Rybski, A. Sascha, . Stoeter, D. Michael et al., A team of robotic agents for surveillance, Proceedings of the 4th International Conference on Autonomous Agents, pp.9-16, 2000.

T. Sak, J. Wainer, and S. Klein-goldenstein, Probabilistic Multiagent Patrolling, Advances in Artificial Intelligence, vol.20, issue.1, pp.124-133, 2008.
DOI : 10.1137/S1064827595287997

J. Santos and P. Lima, Multi-robot Cooperative Object Localization, RoboCup 2009 : Robot Soccer World Cup XIII, pp.332-343, 2010.
DOI : 10.1007/978-3-642-11876-0_29

A. Sarmiento, R. Murrieta-cid, and S. Hutchinson, An Efficient Motion Strategy to Compute Expected-Time Locally Optimal Continuous Search Paths in Known Environments, Advanced Robotics, vol.220, issue.12-13, pp.1533-1560, 2009.
DOI : 10.1163/016918609X12496339799170

T. Jacob, M. Schwartz, and . Sharir, On the 'piano movers' problem, 1982.

E. Frazzoli-sertac-karaman and T. Shima, Task assignment for complex uav operations using genetic algorithms, AIAA Guidance, Navigation, and Control Conference, 2009.

K. Shi, Z. Cao, W. Zhang, and C. Zhou, The Targets Pursuit for Multirobot System with Hybrid Wireless Sensor Networks, IEEE International Conference on Robotics and Automation (ICRA), pp.538-547, 2010.

T. Smith and R. Simmons, Point-Based POMDP Algorithms : Improved Analysis and Implementation, Conference on Uncertainty in Artificial Intelligence (UAI), 2012.

D. E. Soltero, M. Schwager, and D. Rus, Decentralized path planning for coverage tasks using gradient descent adaptive control, The International Journal of Robotics Research, vol.4, issue.1, 2013.
DOI : 10.1177/0278364913497241

L. D. Stone, Theory of Optimal Search, 2007.

J. Strom, . Morton, E. Reilly, and . Olson, Online probabilistic pursuit of adversarial evaders, ICRA Workshop : Search and Pursuit/Evasion in the Physical World, 2010.

Z. Tang and U. Ozguner, Motion planning for multitarget surveillance with mobile sensor agents, IEEE Transactions on Robotics, vol.21, issue.5, pp.898-908, 2005.
DOI : 10.1109/TRO.2005.847567

G. Herbert and . Tanner, Switched UAV-UGV cooperation scheme for target detection, IEEE International Conference on Robotics and Automation (ICRA), 2007.

P. Theodorakopoulos, On autonomous target tracking for UAVs, 2009.
URL : https://hal.archives-ouvertes.fr/tel-00392776

N. A. Tsokas and K. J. Kyriakopoulos, Multi-robot multiple hypothesis tracking for pedestrian tracking, Autonomous Robots, vol.35, issue.2, pp.63-79, 2011.
DOI : 10.1007/s10514-011-9259-7

J. Urrutia, Art gallery and illumination problems. Handbook of computational geometry, 2000.

P. Vansteenwegen, W. Souffriau, and D. Van-oudheusden, The orienteering problem: A survey, European Journal of Operational Research, vol.209, issue.1, pp.1-10, 2011.
DOI : 10.1016/j.ejor.2010.03.045

R. Vidal, O. Shakernia, J. Kim, D. H. Shim, and S. Sastry, Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation, IEEE Transactions on Robotics and Automation, vol.18, issue.5, pp.662-669, 2002.
DOI : 10.1109/TRA.2002.804040

M. Vieira, R. Govindan, and G. Sukhatme, Scalable and practical pursuit-evasion with networked robots. Intelligent Service Robotics, 2009.

C. Vo and J. Lien, Visibility-Based Strategies for Tracking and Searching Unpredictable Coherent Targets Among Known Obstacles, ICRA Workshop : Search and Pursuit/Evasion in the Physical World, 2010.

F. El-mane-wong, T. Bourgault, and . Furukawa, Multi-vehicle Bayesian Search for Multiple Lost Targets, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.3180-3185, 2005.
DOI : 10.1109/ROBOT.2005.1570598

Z. Xu, . Douillard, . Morton, C. Vlaskine, . Wohlleber et al., Towards Collaborative Multi-MAV-UGV Teams for Target Tracking Workshop on Integration of perception with control and navigation for resource-limited, highly dynamic, Proceedings of Robotics : Science and Systems (RSS), 2012.

Z. Xu, R. Fitch, and S. Sukkarieh, Decentralised coordination of mobile robots for target tracking with learnt utility models, 2013 IEEE International Conference on Robotics and Automation, pp.2006-2012, 2013.
DOI : 10.1109/ICRA.2013.6630846

H. Yu and R. Beard, Probabilistic path planning for cooperative target tracking using aerial and ground vehicles, Proceedings of the 2011 American Control Conference, pp.4673-4678, 2011.
DOI : 10.1109/ACC.2011.5990839

K. Zhou, I. Stergios, and . Roumeliotis, Multirobot Active Target Tracking With Combinations of Relative Observations, IEEE Transactions on Robotics, vol.27, issue.4, pp.678-695, 2011.
DOI : 10.1109/TRO.2011.2114734

P. Zhou, B. Hong, Y. Wang, and T. Zhou, Multi-agent coopoerative pursuit based on extended Contract Net Protocol, Machine Learning and Cybernetics, 2004.

É. F. Box, G. E. Draper, and R. Norman, Empirical model-building and response surfaces, p.1844, 1987.

V. Hugo, . Hernani, . Knuth, and E. Donald, Livre de Poche 2434 Computer Programming as an Art, Communications of the ACM, vol.17, pp.1830-149, 1974.

P. Proudhon, Les Confessions d'un révolutionnaire pour servir à l'histoire de la Révolution de Février. Garnier frères, p.1851

J. Rostand, Aux sources de la biologie. Gallimard, 14ème édition, 1958.

. Sur-la-terre and . Tantôt-sable, tantôt savane, L'un à l'autre liés en longue caravane, Echangeant leur pensée en confuses rumeurs, Emmenant avec eux les lois, les faits, les moeurs, Les esprits, voyageurs éternels

L. Châtiments and L. Caravane, Ces travaux ont été partiellement subventionnés par la DGA à travers une bourse de thèse (réf. DGA 2011-60-096)

C. J. Je, Robin, certifie par la présente que les travaux présentés ici et le présent document sont originaux et forment le fruit de mes propres recherches