Where to Build a Door

— A room is a simple polygon with a prespecified point, called the door, on its boundary. Search starts at the door, and must detect any intruder that may be in the room, while making sure that no intruder escapes through the door during the search. Depending on where the door is placed, such a room may or may not be searchable. We present an efficient algorithm that can determine all the points on the boundary where the door should be placed in order for the polygon to be searchable by two guards on the boundary who keep mutual visibility at all times, or a single searcher with a flashlight. We extensively make use diagrams similar to the Visibility Obstruction Diagram (VOD).

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: John Z. Zhang, Tsunehiko Kameda
• Keywords: Door, IROS 2006, Prespecified Point, Robotics, Simple Polygon