For the Marco Polo problem (binary radial probes), the paper gives algorithms using 2.53 to 6 times log-base-2 of n probes, a lower bound of 2.4 times log n, and an O(log k)-competitive strategy for finding all k targets.
The freeze-tag problem: how to wake up a swarm of robots
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The Marco Polo Problem: A Combinatorial Approach to Geometric Localization
For the Marco Polo problem (binary radial probes), the paper gives algorithms using 2.53 to 6 times log-base-2 of n probes, a lower bound of 2.4 times log n, and an O(log k)-competitive strategy for finding all k targets.