loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Authors: Jan Mikula 1 ; 2 and Miroslav Kulich 1

Affiliations: 1 Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslávských partyzánů 1580/3, 16000 Praha 6, Czech Republic ; 2 Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Karlovo náměstí 13, 12135 Praha 2, Czech Republic

Keyword(s): Autonomous Agents, Visibility Region, Triangular Expansion Algorithm, Triangulation, TriVis.

Abstract: Visibility region is a classic structure in computational geometry that finds use in many agent planning prob-lems. Triangular expansion algorithm (TEA) is the state-of-the-art algorithm for computing visibility regions within polygons with holes in two dimensions. It has been shown that it is two orders of magnitude faster than the traditional rotation sweep algorithm for real-world scenarios. The algorithm triangulates the underlying polygon and recursively traverses the triangulation while keeping track of the visible region. Instead of the constraint Delaunay triangulation used by default, this paper introduces the idea of optimizing the triangulation to minimize the expected number of triangle edges expanded during the TEA’s traversal while assuming that every point of the input polygon is equally likely to be queried. The proposed triangulation is experimentally evaluated and shown to improve TEA’s mean query time in practice. Furthermore, the TEA is modified to consider limite d visibility range of real-life sensors. Combined with the proposed triangulation, this adjustment significantly speeds up the computation in scenarios with limited visibility. We provide an efficient open-source implementation called TriVis which, besides the mentioned, includes determining visibility between two points and other useful visibility-related operations. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.204.177.148

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Mikula, J. and Kulich, M. (2022). Triangular Expansion Revisited: Which Triangulation Is The Best?. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 313-319. DOI: 10.5220/0011278700003271

@conference{icinco22,
author={Jan Mikula. and Miroslav Kulich.},
title={Triangular Expansion Revisited: Which Triangulation Is The Best?},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={313-319},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011278700003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Triangular Expansion Revisited: Which Triangulation Is The Best?
SN - 978-989-758-585-2
IS - 2184-2809
AU - Mikula, J.
AU - Kulich, M.
PY - 2022
SP - 313
EP - 319
DO - 10.5220/0011278700003271
PB - SciTePress