Visibility Problem

• Connect all the vertices that can “see” each other
• Use Dijkstra’s algorithm to navigate
• Points sorted in polar coordinate system
• What about objects with actual volume? — We can enlarge the obstacles and still treat the object as a point.
• Divide and conquer
  • Divide the line segments into two sets
  • Use sweep line to calculate visibility, so that the segments are sorted from left to right.