In the original art gallery problem, there is a non-convex area provided and one has to divide it into regions based on infinite visibility of guards. We assume an unlimited number of guards. However, suppose we only have n number of guards with limited visibility. Then how to divide the area in a balanced way meaning each guard gets roughly same size of area to guard. What kind of algos have been developed in this area till now?
balanced partitioning of nonconvex area between multiple agents in a grid world
algorithms;graphs;graph theory;computational geometry;space partitioning