Competitive target search with multi-agent teams: symmetric and asymmetric communication constraints

We study a search game in which two multi-agent teams compete to find a stationary target at an unknown location. Each team plays a mixed strategy over the set of search sweep-patterns allowed from its respective random starting locations. Assuming that communication enables cooperation we find closed-form expressions for the probability of winning the game as a function of team sizes and the existence or absence of communication within each team. Assuming the target is distributed uniformly at random, an optimal mixed strategy equalizes the expected first-visit time to all points within the search space. The benefits of communication enabled cooperation increase with team size. Simulations and experiments agree well with analytical results.