Visibility graph

In computational geometry and robot motion planning, a visibility graph is a graph of intervisible locations, typically for a set of points and obstacles in the Euclidean plane. Each node in the graph represents a point location, and each edge represents a visible connection between them. That is, if the line segment connecting two locations does not pass through any obstacle, an edge is drawn between them in the graph. When the set of locations lies in a line, this can be understood as an ordered series. Visibility graphs have therefore been extended to the realm of time series analysis.