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Reconstructing Visibility Graphs with Simple Robots

  • Davide Bilò
  • Yann Disser
  • Matúš Mihalák
  • Subhash Suri
  • Elias Vicari
  • Peter Widmayer
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5869)

Abstract

We consider the problem of finding a minimalistic configuration of sensors that enable a simple robot inside an initially unknown polygon \(\mathcal{P}\) on n vertices to reconstruct the visibility graph of \(\mathcal{P}\). The robot can sense features of its environment through its sensors, and it is allowed to move from vertex to vertex.

We aim at understanding which sensorial capabilities are sufficient for the reconstruction of the visibility graph of \(\mathcal{P}\). We are able to show that the combinatorial visibilities at every vertex do not contain enough information even when combined with the knowledge of the exact interior angle at each vertex. Using sensors that can put distant vertices into a spatial relation on the other hand can in some cases enable our robot to reconstruct the visibility graph of \(\mathcal{P}\). We show that this is true for a sensor that can distinguish whether the angle between two vertices the robot sees is convex or reflex, as long as the robot is capable of identifying the vertex it last visited. We also show that measuring angles exactly is enough, if the robot has a compass.

Keywords

Visibility Graph Interior Angle Angle Sensor View Sequence Geometrical Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Davide Bilò
    • 1
  • Yann Disser
    • 1
  • Matúš Mihalák
    • 1
  • Subhash Suri
    • 2
  • Elias Vicari
    • 1
  • Peter Widmayer
    • 1
  1. 1.Institute of Theoretical Computer ScienceETH ZürichSwitzerland
  2. 2.Department of Computer ScienceUniversity of California, SantaBarbara

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