Visibility Constraint

Visibility constraint research focuses on ensuring that a system (e.g., a robot, camera, or UAV) maintains a clear line of sight to a target or region of interest, crucial for tasks like autonomous navigation, 3D mapping, and surveillance. Current research explores efficient algorithms, often leveraging geometric models like visibility volumes and star-convex polytopes, and incorporating these constraints into optimization frameworks such as receding horizon control and interior-point methods to generate feasible and optimal trajectories or actions. This work has significant implications for robotics, computer vision, and autonomous systems, enabling safer and more reliable operation in complex environments by guaranteeing perceptual awareness.