CSCE 452/752 Robotics and Spatial Intelligence, Spring 2026
Homework 8
A robot wants to follow the shortest path from $A$ to $B$, avoiding the
obstacles below.
[a]
Draw the visibility graph on the diagram. Be sure to include all of
the edges.
(6 points)
[b]
Find one of the edges in the visibility graph that IS part of the
reduced visibility graph. Mark this edge with a $\star$.
(2 points)
[c]
Find one of the edges in the visibility graph that IS NOT part of the
reduced visibility graph. Mark this edge with a $\Delta$.
(2 points)
