Guarding Terrains with Guards on a Line

Abstract

Given an $x$-monotone polygonal chain $T$ with $n$ vertices, and an integer $k$, we consider the problem of finding the lowest horizontal line $L$ lying above $T$ with $k$ point guards lying on $L$, so that every point on the chain is \emph{visible} from some guard. A natural optimization is to minimize the $y$-coordinate of $L$. We present an algorithm for finding the optimal placements of $L$ and $k$ point guards for $T$ in $O(k^2λ_{k-1}(n)\log n)$ time for even numbers $k\ge 2$, and in $O(k^2λ_{k-2}(n)\log n)$ time for odd numbers $k \ge 3$, where $λ_{s}(n)$ is the length of the longest $(n,s)$-Davenport-Schinzel sequence. We also study a variant with an additional requirement that $T$ is partitioned into $k$ subchains, each subchain is paired with exactly one guard, and every point on a subchain is visible from its paired guard. When $L$ is fixed, we can place the minimum number of guards in $O(n)$ time. When the number $k$ of guards is fixed, we can find an optimal placement of $L$ with $k$ point guards lying on $L$ in $O(kn)$ time.