Computational complexity of art gallery problems
IEEE Transactions on Information Theory
Art gallery theorems and algorithms
Art gallery theorems and algorithms
Information Processing Letters
An output-sensitive algorithm for computing visibility
SIAM Journal on Computing
Finding an approximate minimum-link visibility path inside a simple polygon
Information Processing Letters
Watchman routes in the presence of a pair of convex polygons
Information Sciences: an International Journal
Fast computation of shortest watchman routes in simple polygons
Information Processing Letters
Introduction to Algorithms
Finding the Shortest Watchman Route in a Simple Polygon
ISAAC '93 Proceedings of the 4th International Symposium on Algorithms and Computation
Heuristics for the Generation of Random Polygons
Proceedings of the 8th Canadian Conference on Computational Geometry
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
AI'10 Proceedings of the 23rd Canadian conference on Advances in Artificial Intelligence
How Ants Can Efficiently Solve Generalized Watchman Route Problem
International Journal of Swarm Intelligence Research
Multi-robot repeated area coverage
Autonomous Robots
Optimal patrolling of fragmented boundaries
Proceedings of the twenty-fifth annual ACM symposium on Parallelism in algorithms and architectures
Sweeping a terrain by collaborative aerial vehicles
Proceedings of the 21st ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems
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We present heuristics for computing multiple watchman routes. Given a polygon (with or without holes) and a parameter k, we compute a set of k routes inside the polygon such that any point inside the polygon is visible from at least one point along one route. We measure the quality of our solutions by either the length of the longest route or the sum of the route lengths, where the goal is to minimize each. We start by computing a set of static guards [2], construct k routes that visit all the static guards and try to shorten the routes while maintaining full coverage of the polygon. We implemented the algorithm and present extensive results to evaluate our methods, including a comparison with lower bound routes based on the idea of visiting large number of visibility-independent "witness points". Our experiments showed that for a large suite of input data our heuristics give efficient routes that are comparable with the optimal solutions.