Optimal paths for mutually visible agents

Authors:
Joel Fenwick;V. Estivill-Castro
Affiliations:
Institute for Integrated and Intelligent Systems, Griffith University, Australia;Institute for Integrated and Intelligent Systems, Griffith University, Australia
Venue:
ISAAC'05 Proceedings of the 16th international conference on Algorithms and Computation
Year:
2005

Citing 5
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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.