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On the Control of Mobile Ad-Hoc Agent Deployments in Partially Observed Space

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

We study the online deployment of mobile ad hoc networks in unknown orthogonal environments, formalized as the Partially Observable Cooperative Guard Art Gallery Problem. We give a full proof that CADENCE algorithms achieve full coverage while maintaining a connected visibility graph using at most $n/2 + h - 2$ agents in orthogonal worlds with $n$ corners and $h$ holes. We further evaluate deployment-order heuristics that reduce agent count and deployment time in practice.

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