• Journal of the Korea Computer Industry Society
• /
• v.3 no.1
• /
• pp.35-44
• /
• 2002

The watchman routes which an watchman patrols the interior of given polygon moving along the route are classified to minimum length or minimum links. The watchman route with minimum links has minimum changes of direction and a weakly visible polygon consists of two chains which have mutually weakly visibility. In this paper, we present an Ο($n^2$) time algorithm for finding the watchman route with minimum links in the weakly visible polygons, where n is the number of vertices of a given polygon.

• Journal of KIISE:Computer Systems and Theory
• /
• v.29 no.5
• /
• pp.274-283
• /
• 2002

A weakly visible polygon is an n-gon in the plane and consists of two mutually weakly visible chains. In this paper, we present an $O(n^2)$ time algorithm that finds a shortest watchman route among the routes with minimum links where a watchman patrols the inside of weakly visible polygons.

• Proceedings of the Korean Information Science Society Conference
• /
• 2005.11b
• /
• pp.739-741
• /
• 2005

최근 게임에서 자주 등장하기 시작한 랜덤 지형 맵 생성기법으로 인해 단순한 경로 찾기가 아닌 지형분석을 통한 복잡한 경로 찾기 문제가 많은 관심을 받고 있다. 이에 로보틱스 분야에서 경로 찾기에 이용되는 가시성그래프(Visibility Graph, Vgraph)가 지형분석과 경로 찾기를 동시에 해결할 수 있는 방법으로 제안되고 있다. Vgraph를 이용하면 지형의 로드맵을 효과적으로 생성할 수 있을 뿐 아니라 A* 알고리즘과 결합하여 최적의 경로를 찾는 것을 보장하는 장점이 있다. 그러나 Vgraph에 의해 구해진 경로는 장애물의 정점에서 정점으로 이동하기 때문에 항상 장애물의 모서리를 향해 움직이며 벽에 붙어가는 듯이 보여 부자연스러운 것이 단점이다. 본 논문에서는 설계자가 요구하는 여유공간 c만큼 장애물을 확장하여 확장된 장애물에 대해 가시성그래프를 생성함으로써, Vgraph의 장점은 유지하며 단점을 보완할 수 있는 방법에 대해 제안한다.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.7A
• /
• pp.702-708
• /
• 2006

본 논문에는 초광대역 통신시스템을 위한 주파수 영역의 통계학적 채널 모델을 서술하고 있다. 채널 모렐링은 3개의 사무실 환경, 46개의 송, 수신 위치에서 얻어진 23,000개의 채널응답함수로 부터 얻어졌다. 측정실험을 통해 얻어진 데이터를 바탕으로 주파수 변화에 따른 경로감쇄지수 변화에 대해 서술한 후 전파환경과 가시경로의 존재여부에 따른 수신신호의 확률분포모델을 연구하였다. 마지막으로는 수신된 주파수 톤에 해당하는 수신파워의 표준편차와 같은 통계적 특성들을 고찰하였는데, 가시경로가 존재하는 경우에는 송, 수신기 사이의 거리가 멀어지면서 표준편차 값이 커지고 그에 따라 수신 주파수 톤의 파워가 평균 수신파워에서 일정한 범위 안에 들어올 확률이 떨어지는 것을 알 수 있었다.

• The KIPS Transactions:PartA
• /
• v.9A no.4
• /
• pp.595-602
• /
• 2002

The watchman routes which an watchman patrols the interior of polygon moving along the route are classified to minimum length or minimum links. The watchman route with minimum links has minimum changes of direction in process. In this paper, we present an algorithm with $O(N^2)$ time for finding the watchman route with minimum links in the weakly visible polygons which have specific property.

• Journal of the Korea Society for Simulation
• /
• v.16 no.1
• /
• pp.31-37
• /
• 2007

The importance of NPC's role in computer games is increasing. An NPC must perform its tasks by perceiving obstacles and other characters and by moving through them. It has been proposed to plan a natural-looking path against fixed obstacles by using a generalized visibility graph. In this paper we develop the execution module for an NPC to move efficiently along the path planned on the generalized visibility graph. The planned path consists of line segments and arc segments, so we define steering behaviors such as linear behaviors, circular behaviors, and an arriving behavior for NPC's movements to be realistic and utilize them during execution. The execution module also includes the collision detection capability to be able to detect dynamic obstacles and uses a decision tree to react differently according to the detected obstacles. The execution module is tested through the simulation based on the example scenario in which an NPC interferes the other moving NPC.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.14 no.2
• /
• pp.369-374
• /
• 2010

The shortest path between two points inside a simple polygon P is a minimum-length path among all paths connecting them which don't pass by the exterior of P. A linear time algorithm for computing the shortest path in a general simple polygon requires triangulating a polygon as preprocessing. The linear time triangulating is known to very complex to understand and implement it. It is also inefficient in case that the input without very large size is given because its time complexity has a big constant factor. In this paper, we present the customized shortest path algorithm for a segment-visible polygon which is a simple polygon weakly visible from an internal line segment. Our algorithm doesn't require triangulating as preprocessing and consists of simple procedures such as construction of convex hulls, so it is easy to implement and runs very fast in linear time.

• Journal of KIISE:Software and Applications
• /
• v.34 no.4
• /
• pp.368-376
• /
• 2007

How to represent the search space is as important as which search algorithm to use for finding natural-looking paths for moving NPC (non-player character) in computer games. Recently, various state space representation methods which have been developed for computer games are being used while A* algorithm dominates as the preferred search algorithm. These representation methods show some drawbacks such as the size of state space is too large, there is no guarantee for optimality, the path found is not natural-looking, and the generation of nodes and links is not automatic by depending on a level designer. In this paper the requirements for natural-looking paths are introduced and to find paths satisfying these requirements, the use of the generalized visibility graphs which is the extended version of the visibility graph in Robotics is proposed.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.11 no.3
• /
• pp.410-418
• /
• 2000

In this paper, path losses in millimeter-wave band for different propagation environments are measured, and the results are analyzed by modeling the median, maximum, and minimum values of the measurement data for each site, which are recorded for 5 minutes, with a linear regression model. The measurement data shows that in urban and suburban environments, extra path loss must be taken into account for line-of-sight path, even in millimeter wave band.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2004.05a
• /
• pp.397-400
• /
• 2004

본 논문에서는 Navigation Mesh로 이루어진 3D 게임에서 가시성 그래프(Visibility Graph)와 $A^*$ 알고리즘을 혼용한 효율적인 경로 탐색 방법을 제안한다. Navigation Mesh로 지형을 생성할 때 이동에 꼭 필요한 Mesh로만 최대한 단순하게 지형을 구성하는 경우에는 경로 탐색을 위하여 $A^*$ 알고리즘을 적용할 수 있으나, 일반적으로 세밀하게 구성된 Navigation Mesh에서 $A^*$ 알고리즘을 적용할 경우 탐색할 공간이 많아지기 때문에 경로 탐색이 매우 비효율적이 된다. 세밀하게 구성된 Navigation Mesh에서도 효율적인 탐색을 하기 위해서 본 논문에서는 가시성 그래프를 이용하여 탐색 공간을 줄이는 방법을 사용하였다. 장애물들의 정점을 찾아 반드시 통과하여야 하는 mesh 들을 선정하고 $A^*$의 휴리스틱 함수를 이 mesh들을 지나가는 거리로 정의함으로써 기본적인 $A^*$ 알고리즘을 수행하는 것보다 탐색을 위하여 방문하는 mesh들의 수를 현저히 줄일 수 있었다.