Editing Visibility graph (section)

{{short description|Graph of intervisible locations in computational geometry}}
In [[computational geometry]] and [[robot]] [[motion planning]],<ref>{{Cite journal|last1=Niu|first1=Hanlin|last2=Savvaris|first2=Al|last3=Tsourdos|first3=Antonios|last4=Ji|first4=Ze|date=2019|title=Voronoi-Visibility Roadmap-based Path Planning Algorithm for Unmanned Surface Vehicles|url=https://orca.cardiff.ac.uk/118170/1/Voronoi-Visibility%20Roadmap-based%20Path%20Planning%20Algorithm%20for%20Unmanned%20Su.._.pdf|journal=Journal of Navigation|volume=72|issue=4|pages=850–874|doi=10.1017/S0373463318001005|s2cid=67908628 |issn=0373-4633}}</ref> a '''visibility graph''' is a [[Graph (discrete mathematics)|graph]] of intervisible locations, typically for a set of points and obstacles in the [[Euclidean plane]].  Each [[vertex (graph theory)|node]] in the graph represents a point location, and each [[graph theory|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.