Triangular Expansion Revisited: Which Triangulation Is The Best?

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00358786" target="_blank" >RIV/68407700:21230/22:00358786 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/22:00358786

Result on the web

<a href="https://doi.org/10.5220/0011278700003271" target="_blank" >https://doi.org/10.5220/0011278700003271</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5220/0011278700003271" target="_blank" >10.5220/0011278700003271</a>

Result language

angličtina

Original language name

Triangular Expansion Revisited: Which Triangulation Is The Best?

Original language description

Visibility region is a classic structure in computational geometry that finds use in many agent planning problems. 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 limited 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.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2022

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO

ISBN

978-989-758-585-2

ISSN

—

e-ISSN

2184-2809

Number of pages

7

Pages from-to

313-319

Publisher name

Science and Technology Publications, Lda

Place of publication

Setúbal

Event location

Lisbon

Event date

Jul 14, 2022

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000852751300035