Abstract
We present linear-time algorithms for a pair of robots to travel inside a simple polygon on paths of total minimum length while maintaining visibility with one another. We show that the optimal paths for this mutually visible constraint are almost always each agent’s shortest path. The this may not happen only on a sub-case of when the line of visibility of the source points crosses the line of visibility of the target points. We also show that the travel schedule is computable, but that it also suffers from a pathological case.
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Fenwick, J., Estivill-Castro, V. (2005). Optimal Paths for Mutually Visible Agents. In: Deng, X., Du, DZ. (eds) Algorithms and Computation. ISAAC 2005. Lecture Notes in Computer Science, vol 3827. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11602613_87
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DOI: https://doi.org/10.1007/11602613_87
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30935-2
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