Mapping Polygons in Bloomington, MN

This thesis focuses on the exploration of polygonal environments with simple agents. The goal is to understand what minimal capabilities such agents need in order to draw a map of their environment. Starting from a very basic agent model, we investigate what extra capabilities agents need in order to reconstruct the visibility graph of their environment. Some combinations of capabilities are shown to be insufficient, while others are shown to be sufficient. For the latter, we present reconstruction algorithms and algorithms for meeting with other agents.