Conflict-free Chromatic Art Gallery Coverage

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]

Reconstructing polygons from scanner data

A range-finding scanner can collect information about the shape of an (unknown) polygonal room in which it is placed. Suppose that a set of scanners returns not only a set of points, but also additional information, such as the normal to the plane when a scan beam detects a wall. We consider the problem of reconstructing the floor plan of a room from different types of scan data. In particular, we present algorithmic and hardness results for reconstructing two-dimensional polygons from point-wall pairs, point-normal pairs, and visibility polygons. The polygons may have restrictions on topology (e.g., to be simply connected) or geometry (e.g., to be orthogonal). We show that this reconstruction problem is NP-hard under most models, but that some restrictive assumptions do allow polynomial-time reconstruction algorithms

Visibility properties of polygons

Two problems dealing with visibility in the interior of a polygon are investigated. We present a linear time algorithm for computing the stair-case visibility polygon from a point inside a simple polygon, which is optimal within a constant factor. We show that the problem of locating the minimum number of 90{dollar}\sp\circ{dollar}-flood-lights to illuminate the interior of a simple polygon is NP-complete. We also discuss the generalization of the above results

Engineering Art Galleries

The Art Gallery Problem is one of the most well-known problems in Computational Geometry, with a rich history in the study of algorithms, complexity, and variants. Recently there has been a surge in experimental work on the problem. In this survey, we describe this work, show the chronology of developments, and compare current algorithms, including two unpublished versions, in an exhaustive experiment. Furthermore, we show what core algorithmic ingredients have led to recent successes

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

Decomposing and packing polygons / Dania el-Khechen.

In this thesis, we study three different problems in the field of computational geometry: the partitioning of a simple polygon into two congruent components, the partitioning of squares and rectangles into equal area components while minimizing the perimeter of the cuts, and the packing of the maximum number of squares in an orthogonal polygon. To solve the first problem, we present three polynomial time algorithms which given a simple polygon P partitions it, if possible, into two congruent and possibly nonsimple components P 1 and P 2 : an O ( n 2 log n ) time algorithm for properly congruent components and an O ( n 3 ) time algorithm for mirror congruent components. In our analysis of the second problem, we experimentally find new bounds on the optimal partitions of squares and rectangles into equal area components. The visualization of the best determined solutions allows us to conjecture some characteristics of a class of optimal solutions. Finally, for the third problem, we present three linear time algorithms for packing the maximum number of unit squares in three subclasses of orthogonal polygons: the staircase polygons, the pyramids and Manhattan skyline polygons. We also study a special case of the problem where the given orthogonal polygon has vertices with integer coordinates and the squares to pack are (2 {604} 2) squares. We model the latter problem with a binary integer program and we develop a system that produces and visualizes optimal solutions. The observation of such solutions aided us in proving some characteristics of a class of optimal solutions

Partitioning Regular Polygons into Circular Pieces I: Convex Partitions

We explore an instance of the question of partitioning a polygon into pieces, each of which is as ``circular'' as possible, in the sense of having an aspect ratio close to 1. The aspect ratio of a polygon is the ratio of the diameters of the smallest circumscribing circle to the largest inscribed disk. The problem is rich even for partitioning regular polygons into convex pieces, the focus of this paper. We show that the optimal (most circular) partition for an equilateral triangle has an infinite number of pieces, with the lower bound approachable to any accuracy desired by a particular finite partition. For pentagons and all regular k-gons, k > 5, the unpartitioned polygon is already optimal. The square presents an interesting intermediate case. Here the one-piece partition is not optimal, but nor is the trivial lower bound approachable. We narrow the optimal ratio to an aspect-ratio gap of 0.01082 with several somewhat intricate partitions.Comment: 21 pages, 25 figure

Conflict-Free Chromatic Art Gallery Coverage

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