| Title | Maximizing visibility in nonconvex polygons: Nonsmooth analysis and gradient algorithm design |
| Publication Type | Journal Article |
| Year of Publication | 2006 |
| Authors | Ganguli A, Cortes J, Bullo F |
| Journal | SIAM JOURNAL ON CONTROL AND OPTIMIZATION |
| Volume | 45 |
| Pagination | 1657-1679 |