Searching Polyhedra by Rotating Half-Planes

The Searchlight Scheduling Problem was first studied in 2D polygons, where the goal is for point guards in fixed positions to rotate searchlights to catch an evasive intruder. Here the problem is extended to 3D polyhedra, with the guards now boundary segments who rotate half-planes of illumination. After carefully detailing the 3D model, several results are established. The first is a nearly direct extension of the planar one-way sweep strategy using what we call exhaustive guards, a generalization that succeeds despite there being no well-defined notion in 3D of planar "clockwise rotation". Next follow two results: every polyhedron with r>0 reflex edges can be searched by at most r^2 suitably placed guards, whereas just r guards suffice if the polyhedron is orthogonal. (Minimizing the number of guards to search a given polyhedron is easily seen to be NP-hard.) Finally we show that deciding whether a given set of guards has a successful search schedule is strongly NP-hard, and that deciding if a given target area is searchable at all is strongly PSPACE-hard, even for orthogonal polyhedra. A number of peripheral results are proved en route to these central theorems, and several open problems remain for future work.Comment: 45 pages, 26 figure

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

How to Walk Your Dog in the Mountains with No Magic Leash

We describe a $O(\log n )$-approximation algorithm for computing the homotopic \Frechet distance between two polygonal curves that lie on the boundary of a triangulated topological disk. Prior to this work, algorithms were known only for curves on the Euclidean plane with polygonal obstacles. A key technical ingredient in our analysis is a $O(\log n)$-approximation algorithm for computing the minimum height of a homotopy between two curves. No algorithms were previously known for approximating this parameter. Surprisingly, it is not even known if computing either the homotopic \Frechet distance, or the minimum height of a homotopy, is in NP

Mobile vs. point guards

We study the problem of guarding orthogonal art galleries with horizontal mobile guards (alternatively, vertical) and point guards, using "rectangular vision". We prove a sharp bound on the minimum number of point guards required to cover the gallery in terms of the minimum number of vertical mobile guards and the minimum number of horizontal mobile guards required to cover the gallery. Furthermore, we show that the latter two numbers can be calculated in linear time.Comment: This version covers a previously missing case in both Phase 2 &

Partially Walking a Polygon

Deciding two-guard walkability of an n-sided polygon is a well-understood problem. We study the following more general question: How far can two guards reach from a given source vertex while staying mutually visible, in the (more realistic) case that the polygon is not entirely walkable? There can be Theta(n) such maximal walks, and we show how to find all of them in O(n log n) time