2,500 research outputs found

    Conflict-free Chromatic Art Gallery Coverage

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    We consider a chromatic variant of the art gallery problem, where each guard is assigned one of k distinct colors. A placement of such colored guards is conflict-free if each point of the polygon is seen by some guard whose color appears exactly once among the guards visible to that point. What is the smallest number k(n) of colors that ensure a conflict-free covering of all n-vertex polygons? We call this the conflict-free chromatic art gallery problem. The problem is motivated by applications in distributed robotics and wireless sensor networks where colors indicate the wireless frequencies assigned to a set of covering "landmarks" in the environment so that a mobile robot can always communicate with at least one landmark in its line-of-sight range without interference. Our main result shows that k(n) is O(log n) for orthogonal and for monotone polygons, and O(log^2 n) for arbitrary simple polygons. By contrast, if all guards visible from each point must have distinct colors, then k(n)is Omega(n) for arbitrary simple polygons and Omega(sqrt(n)) for orthogonal polygons, as shown by Erickson and LaValle [Proc. of RSS 2011]

    Conflict-Free Chromatic Art Gallery Coverage

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    We consider a chromatic variant of the art gallery problem, where each guard is assigned one of k distinct colors. A placement of such colored guards is conflict-free if each point of the polygon is seen by some guard whose color appears exactly once among the guards visible to that point. What is the smallest number k(n) of colors that ensure a conflict-free covering of all n-vertex polygons? We call this the conflict-free chromatic art gallery problem. Our main result shows that k(n) is O(logn) for orthogonal and for monotone polygons, and O(log2 n) for arbitrary simple polygons. By contrast, if all guards visible from each point must have distinct colors, then k(n) is Ω(n) for arbitrary simple polygons, as shown by Erickson and LaValle (Robotics: Science and Systems, vol.VII, pp.81-88, 2012). The problem is motivated by applications in distributed robotics and wireless sensor networks but is also of interest from a theoretical point of view

    Complexity of the General Chromatic Art Gallery Problem

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    In the original Art Gallery Problem (AGP), one seeks the minimum number of guards required to cover a polygon PP. We consider the Chromatic AGP (CAGP), where the guards are colored. As long as PP is completely covered, the number of guards does not matter, but guards with overlapping visibility regions must have different colors. This problem has applications in landmark-based mobile robot navigation: Guards are landmarks, which have to be distinguishable (hence the colors), and are used to encode motion primitives, \eg, "move towards the red landmark". Let χG(P)\chi_G(P), the chromatic number of PP, denote the minimum number of colors required to color any guard cover of PP. We show that determining, whether χG(P)≤k\chi_G(P) \leq k is \NP-hard for all k≥2k \geq 2. Keeping the number of colors minimal is of great interest for robot navigation, because less types of landmarks lead to cheaper and more reliable recognition

    The Dispersive Art Gallery Problem

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    We introduce a new variant of the art gallery problem that comes from safety issues. In this variant we are not interested in guard sets of smallest cardinality, but in guard sets with largest possible distances between these guards. To the best of our knowledge, this variant has not been considered before. We call it the Dispersive Art Gallery Problem. In particular, in the dispersive art gallery problem we are given a polygon ? and a real number ?, and want to decide whether ? has a guard set such that every pair of guards in this set is at least a distance of ? apart. In this paper, we study the vertex guard variant of this problem for the class of polyominoes. We consider rectangular visibility and distances as geodesics in the L?-metric. Our results are as follows. We give a (simple) thin polyomino such that every guard set has minimum pairwise distances of at most 3. On the positive side, we describe an algorithm that computes guard sets for simple polyominoes that match this upper bound, i.e., the algorithm constructs worst-case optimal solutions. We also study the computational complexity of computing guard sets that maximize the smallest distance between all pairs of guards within the guard sets. We prove that deciding whether there exists a guard set realizing a minimum pairwise distance for all pairs of guards of at least 5 in a given polyomino is NP-complete. We were also able to find an optimal dynamic programming approach that computes a guard set that maximizes the minimum pairwise distance between guards in tree-shaped polyominoes, i.e., computes optimal solutions; due to space constraints, details can be found in the full version of our paper [Christian Rieck and Christian Scheffer, 2022]. Because the shapes constructed in the NP-hardness reduction are thin as well (but have holes), this result completes the case for thin polyominoes

    Conflict-Free Coloring of Intersection Graphs

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    A conflict-free k-coloring of a graph G=(V,E) assigns one of k different colors to some of the vertices such that, for every vertex v, there is a color that is assigned to exactly one vertex among v and v\u27s neighbors. Such colorings have applications in wireless networking, robotics, and geometry, and are well studied in graph theory. Here we study the conflict-free coloring of geometric intersection graphs. We demonstrate that the intersection graph of n geometric objects without fatness properties and size restrictions may have conflict-free chromatic number in Omega(log n/log log n) and in Omega(sqrt{log n}) for disks or squares of different sizes; it is known for general graphs that the worst case is in Theta(log^2 n). For unit-disk intersection graphs, we prove that it is NP-complete to decide the existence of a conflict-free coloring with one color; we also show that six colors always suffice, using an algorithm that colors unit disk graphs of restricted height with two colors. We conjecture that four colors are sufficient, which we prove for unit squares instead of unit disks. For interval graphs, we establish a tight worst-case bound of two
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