Visibility Polygons and Visibility Graphs among Dynamic Polygonal Obstacles in the Plane
Sanjana Agrwal, R. Inkulu

TL;DR
This paper presents algorithms for efficiently updating visibility polygons and graphs in a dynamic polygonal environment with obstacle modifications, enabling real-time visibility analysis.
Contribution
It introduces novel algorithms for maintaining visibility polygons and graphs in dynamic polygonal domains with obstacle insertions and deletions.
Findings
Efficient worst-case update times for visibility polygons.
Efficient worst-case update times for visibility graphs.
Applicable to dynamic environments with changing obstacles.
Abstract
We devise an algorithm for maintaining the visibility polygon of any query point in a dynamic polygonal domain, i.e., as the polygonal domain is modified with vertex insertions and deletions to its obstacles, we update the data structures that store the visibility polygon of the query point. After preprocessing the initial input polygonal domain to build a few data structures, our algorithm takes O(k(\lg{|VP_{\cal P'}(q)|})+(\lg{n'})^{2}+h) (resp. O(k(\lg n')^2+(\lg|VP_{\cal P'}(q)|)+h)) worst-case time to update data structures that store visibility polygon VP_{\cal P'}(q) of a query point q when any vertex v is inserted to (resp. deleted from) any obstacle of the current polygonal domain \cal P'. Here, n' is the number of vertices in \cal P', h is the number of obstacles in \cal P', VP_{\cal P'}(q) is the visibility polygon of q in \cal P' (|VP_{\cal P'}(q)| is the number of vertices…
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Taxonomy
TopicsComputational Geometry and Mesh Generation · Robotic Path Planning Algorithms · Robotics and Sensor-Based Localization
