Visibility graph

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A visibility graph is a graph of intervisible locations. Each node or vertex in the graph represents a point location, and each edge represents a visible connection between them (that is, if two locations can see each other, an edge is drawn between them).

Visibility graphs are classically regarded as two dimensional artefacts. They are drawn within a plan of a site, or in mathematical terms, a polygon. The polygon may or may not have holes (obstructions within the plan).

In addition to theoretical problems, visibility graphs also have practical uses, for example, to calculate the placement of radio antennas, or as a tool used within architecture and urban planning through visibility graph analysis. Visibility graphs are also used in mobile robotics as a (generally offline) path-planning tool when the geometry of the environment is known, although robots have been designed that collect isovist information as they explore the environment using ultrasound sensors, which can then be turned into a visibility graph of recognisable known locations.

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