相关论文: Guarding Polygons with Holes
We provide an O(log log OPT)-approximation algorithm for the problem of guarding a simple polygon with guards on the perimeter. We first design a polynomial-time algorithm for building epsilon-nets of size O(1/epsilon log log 1/epsilon) for…
Algorithmic approaches to exhaustive coverage have application in video games, enabling automatic game level exploration. Current designs use simple heuristics that frequently result in poor performance or exhibit unnatural behaviour. In…
In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the…
We study the Art Gallery Problem for face guards in polyhedral environments. The problem can be informally stated as: how many (not necessarily convex) windows should we place on the external walls of a dark building, in order to completely…
This paper addresses the movement and placement of mobile agents to establish a communication network in initially unknown environments. We cast the problem in a computational-geometric framework by relating the coverage problem and…
This paper gives an introduction to the problem of mapping simple polygons with autonomous agents. We focus on minimalistic agents that move from vertex to vertex along straight lines inside a polygon, using their sensors to gather local…
Terrain Guarding Problem(TGP), which is known to be NP-complete, asks to find a smallest set of guard locations on a terrain $T$ such that every point on $T$ is visible by a guard. Here, we study this problem on 1.5D orthogonal terrains…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
Given a simple polygon $\mathcal{P}$ on $n$ vertices, two points $x,y$ in $\mathcal{P}$ are said to be visible to each other if the line segment between $x$ and $y$ is contained in $\mathcal{P}$. The Point Guard Art Gallery problem asks for…
This paper addresses the problem of tracking mobile intruders in a polygonal environment. We assume that a team of diagonal guards is deployed inside the polygon to provide mobile coverage. First, we formulate the problem of tracking a…
We present several advancements in search-type problems for fleets of mobile agents operating in two dimensions under the wireless model. Potential hidden target locations are equidistant from a central point, forming either a disk…
Given a simple polygon $\cal P$, in the Art Gallery problem, the goal is to find the minimum number of guards needed to cover the entire $\cal P$, where a guard is a point and can see another point $q$ when $\overline{pq}$ does not cross…
We consider a variant of the art gallery problem where all guards are limited to seeing to the right inside a monotone polygon. We call such guards: half-guards. We provide a polynomial-time approximation for point guarding the entire…
One of the earliest and most well known problems in computational geometry is the so-called art gallery problem. The goal is to compute the minimum possible number guards placed on the vertices of a simple polygon in such a way that they…
We explore an Art Gallery variant where each point of a polygon must be seen by k guards, and guards cannot see through other guards. Surprisingly, even covering convex polygons under this variant is not straightforward. For example,…
This paper focuses on a variation of the Art Gallery problem that considers open edge guards and open mobile guards. A mobile guard can be placed on edges and diagonals of a polygon, and the "open" prefix means that the endpoints of such…
This thesis focuses on two concepts which are widely studied in the field of computational geometry. Namely, visibility and unit disk graphs. In the field of visibility, we have studied the conflict-free chromatic guarding of polygons, for…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
We provide a spectrum of results for the Universal Guard Problem, in which one is to obtain a small set of points ("guards") that are "universal" in their ability to guard any of a set of possible polygonal domains in the plane. We give…
In this paper, we address the challenge of locating a black hole within a dynamic graph using a set of scattered agents, which start from arbitrary positions in the graph. A black hole is defined as a node that silently eliminates any agent…