Visibility-based Optimal Path and Motion Planning (Studies in Computational Intelligence, 568)

From the book reviews:

“Problems related to the visibility and observation of objects and regions form the core focus of this book. ... Each chapter has a dedicated bibliography where the reader can follow up on the material presented. The book provides a wide-ranging survey of the topic of visibility and can be read with profit by both students and practitioners with a strong background in mathematics.” (J. P. E. Hodgson, Computing Reviews, November, 2014)