In computational geometry and robot motion planning, a **visibility graph** is a graph of intervisible locations, typically for a set of points and obstacles in the Euclidean plane. Each node in the graph represents a point location, and each 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.

Read more about Visibility Graph: Applications, Characterization, Related Problems

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