Maximizing visibility in nonconvex polygons: Nonsmooth analysis and gradient algorithm design

TitleMaximizing visibility in nonconvex polygons: Nonsmooth analysis and gradient algorithm design
Publication TypeJournal Article
Year of Publication2006
AuthorsGanguli A, Cortes J, Bullo F
JournalSIAM JOURNAL ON CONTROL AND OPTIMIZATION
Volume45
Pagination1657-1679