21,383 research outputs found
Polygon Exploration with Time-Discrete Vision
With the advent of autonomous robots with two- and three-dimensional scanning
capabilities, classical visibility-based exploration methods from computational
geometry have gained in practical importance. However, real-life laser scanning
of useful accuracy does not allow the robot to scan continuously while in
motion; instead, it has to stop each time it surveys its environment. This
requirement was studied by Fekete, Klein and Nuechter for the subproblem of
looking around a corner, but until now has not been considered in an online
setting for whole polygonal regions.
We give the first algorithmic results for this important algorithmic problem
that combines stationary art gallery-type aspects with watchman-type issues in
an online scenario: We demonstrate that even for orthoconvex polygons, a
competitive strategy can be achieved only for limited aspect ratio A (the ratio
of the maximum and minimum edge length of the polygon), i.e., for a given lower
bound on the size of an edge; we give a matching upper bound by providing an
O(log A)-competitive strategy for simple rectilinear polygons, using the
assumption that each edge of the polygon has to be fully visible from some scan
point.Comment: 28 pages, 17 figures, 2 photographs, 3 tables, Latex. Updated some
details (title, figures and text) for final journal revision, including
explicit assumption of full edge visibilit
The Partial Visibility Representation Extension Problem
For a graph , a function is called a \emph{bar visibility
representation} of when for each vertex , is a
horizontal line segment (\emph{bar}) and iff there is an
unobstructed, vertical, -wide line of sight between and
. Graphs admitting such representations are well understood (via
simple characterizations) and recognizable in linear time. For a directed graph
, a bar visibility representation of , additionally, puts the bar
strictly below the bar for each directed edge of
. We study a generalization of the recognition problem where a function
defined on a subset of is given and the question is whether
there is a bar visibility representation of with for every . We show that for undirected graphs this problem
together with closely related problems are \NP-complete, but for certain cases
involving directed graphs it is solvable in polynomial time.Comment: Appears in the Proceedings of the 24th International Symposium on
Graph Drawing and Network Visualization (GD 2016
Multi-Agent Deployment for Visibility Coverage in Polygonal Environments with Holes
This article presents a distributed algorithm for a group of robotic agents
with omnidirectional vision to deploy into nonconvex polygonal environments
with holes. Agents begin deployment from a common point, possess no prior
knowledge of the environment, and operate only under line-of-sight sensing and
communication. The objective of the deployment is for the agents to achieve
full visibility coverage of the environment while maintaining line-of-sight
connectivity with each other. This is achieved by incrementally partitioning
the environment into distinct regions, each completely visible from some agent.
Proofs are given of (i) convergence, (ii) upper bounds on the time and number
of agents required, and (iii) bounds on the memory and communication
complexity. Simulation results and description of robust extensions are also
included
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Simplified Production of Large Prototypes using Visible Slicing
Rapid Prototyping (RP) is a totally automatic generative manufacturing
technique based on a âdivide-and-conquerâ strategy called âslicingâ. Simple
slicing used on 2.5-axis kinematics of the existing RP machines is responsible for
the staircase error. Although thinner slices will have less error, the slice thickness
has practical limits. Visible Slicing overcomes these limitations. A few visible
slices exactly represent the object. Each visible slice can be realized using a 3- axis kinematics machine from two opposite directions. Visible slicing is
implemented on Segmented Object Manufacturing (SOM) machine under
development. SOM can produce soft large prototypes faster and cheaper with
accuracy comparable to that of CNC machining.Mechanical Engineerin
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