Guarding galleries where every point sees a large area

Abstract

We prove a conjecture of Kavraki, Latombe, Motwani and Raghavan that ifX is a compact simply connected set in the plane of Lebesgue measure 1, such that any pointx∈X sees a part ofX of measure at least ɛ, then one can choose a setG of at mostconst1/ɛ log 1/ɛ points inX such that any point ofX is seen by some point ofG. More generally, if for anyk points inX there is a point seeing at least 3 of them, then all points ofX can be seen from at mostO(k3 logk) points.