On-line Parallel Heuristics and Robot Searching under the Competitive Framework. A. López-Ortiz and S. Schuierer. In Proceedings of Scandinavian Workshop on Algorithm Theory, (SWAT), 2002. PostScript file.
Abstract. In this paper we
investigate parallel searches on $m$ concurrent rays for a point target t located at some
unknown distance along one of the rays.
A group of p agents or robots moving at unit speed searches for t. The
search succeeds when an agent reaches the point t. Given a strategy S the
competitive ratio is the ratio of the time needed by the agents to find t using
S and the time needed if the location of t had been known in advance. We
provide a strategy with competitive ratio of 1+2(m/p-1)(m/(m-p))^{m/p} and
prove that this is optimal. This problem has applications in multiple heuristic
searches in AI as well as robot motion planning. The case p=1 is known in the
literature as the cow path problem.