Towards an Iterative Algorithm for the Optimal Boundary Coverage of a 3D Environment

  • Andrea Bottino
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5856)


This paper presents a new optimal algorithm for locating a set of sensors in 3D able to see the boundaries of a polyhedral environment. Our approach is iterative and is based on a lower bound on the sensors’ number and on a restriction of the original problem requiring each face to be observed in its entirety by at least one sensor. The lower bound allows evaluating the quality of the solution obtained at each step, and halting the algorithm if the solution is satisfactory. The algorithm asymptotically converges to the optimal solution of the unrestricted problem if the faces are subdivided into smaller parts.


3D sensor positioning Art Gallery lower bound 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Andrea Bottino
    • 1
  1. 1.Dipartimento di Automatica e InformaticaPolitecnico di TorinoTorinoItaly

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