Optimal Paths for Mutually Visible Agents

  • Joel Fenwick
  • V. Estivill-Castro
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3827)


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.


Polygon Shortest Path Teams of Robots Line of Visibility 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Joel Fenwick
    • 1
  • V. Estivill-Castro
    • 1
  1. 1.Institute for Integrated and Intelligent SystemsGriffith UniversityAustralia

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