This paper provides solutions and insights into a new set of problems of catching a mobile robot intruder using limited information about the intruder’s location. The information about the intruder’s location, which is termed a snapshot, is only available upon request. We formulate the problem of tracking and catching an intruder with limited number of snapshots, which we termed the Moving Target Search with Snapshots (MTSWS). In the MTSWS problem a mobile guard \(G\) is chasing a mobile intruder \(B\) in \(R^{2}\). Here, \(G\) knows the location of \(B\) either from a requested snapshot or if \(G\) is sufficiently close to \(B\) by sensing it. Sensing is the ability of \(G\) to detect \(B\) directly (e.g., using a directional proximity sensor or a short range camera). The objectives are to determine the number of required snapshots in the worst case and to reduce the distance travelled by \(G\) as it attempts to catch \(B\) (i.e., getting close enough so that it can follow and catch \(B\) without additional information). In this paper we present (1) Solution for computing the number of snapshots that are necessary and sufficient to catch an intruder in the worst case. (2) Algorithmic solutions when \(G\) is limited to using k snapshots by determining the locations and the time that \(G\) should take the snapshots. (3) Algorithmic solution when taking a snapshot is associated with a time penalty. Namely, when \(G\) is taking a snapshot then \(G\) must wait for a period of time before it can move again. The time penalty is applied either before or after taking a snapshot.

本文提供了针对使用有关入侵者位置的有限信息来捕获移动机器人入侵者的一系列新问题的解决方案和见解。有关入侵者位置的信息（称为快照）仅在请求时提供。我们提出了用有限数量的快照跟踪和捕获入侵者的问题，我们将其称为“快照移动目标搜索”（MTSWS）。在 MTSWS 问题中，移动警卫\(G\)正在追赶\(R^{2}\ )中的移动入侵者\(B\ ) 。这里，\(G\)通过请求的快照知道\(B\)的位置，或者\(G\)是否足够接近\(B\)通过感知它。感知是\(G\)直接检测\(B\)的能力（例如，使用定向接近传感器或短距离相机）。目标是确定最坏情况下所需快照的数量，并减少\(G\)在尝试捕获\(B\)时行驶的距离（即，足够接近以便它可以跟随并捕获\ (B\)） (B\)没有附加信息）。在本文中，我们提出（1）解决方案，用于计算在最坏情况下捕获入侵者所需且足够的快照数量。(2) 当\(G\)仅限于使用k时的算法解决方案通过确定\(G\)应该拍摄快照的位置和时间来拍摄快照。(3) 拍摄快照时的算法解决方案与时间损失相关。也就是说，当\(G\)进行快照时，\(G\)必须等待一段时间才能再次移动。时间损失会在拍摄快照之前或之后应用。