外观
论文arXiv 2610.1952314 天前
地下城与可见性世界生成器
原文链接：Dungeon and Visibility World Generator（arXiv 2610.19523 · 发布日期：2026-10-14）
Dungeon and Visibility World Generator
提出开源Dungeon and Visibility World Generator，用可配置二维/三维环境和视线查询支持探索、覆盖与多智能体部署算法评估。
核心要点
- 机器人探索、覆盖和多智能体部署算法需要几何与可见性可控、可复现的环境。
- 框架支持正交、多边形/多面体和曲线几何，并提供六类环境构造方式。
- 可用参数和概率分布控制房间、通道、障碍物与空间布局，输出连续自由空间和占据表示。
- Rust可见性引擎支持两种表示中的视线查询，并记录配置、几何、栅格和可见性结果。
验证范围与局限：验证限于生成的二维/三维环境及六类几何构造，评估可见性、生成时间和可复现性。
英文摘要 (Abstract)
Robotic exploration, coverage, and multi-agent deployment algorithms require reproducible environments with controllable geometry and visibility. This paper presents the Dungeon and Visibility World Generator, an open-source framework for constructing two- and three-dimensional environments and evaluating geometric line-of-sight. The framework supports orthogonal, polygonal or polyhedral, and curvilinear geometries, with six construction families covering scattered rooms, clusters, winding passages, caverns, branches, and loops. Room dimensions, passage structures, obstacles, and spatial placement can be controlled through configurable parameters and probability distributions. Each generated environment provides continuous free-space geometry and a corresponding discrete occupancy representation. A Rust-based visibility engine supports line-of-sight queries in both representations, enabling the evaluation of observable regions from arbitrary agent positions. The framework records configurations, generated geometries, occupancy grids, and visibility results to support reproducible experiments. We demonstrate the generator across all six geometry classes, examine how geometry and spatial resolution affect visibility, and evaluate generation time and reproducibility. The resulting framework provides a configurable foundation for evaluating robotic exploration, coverage, and multi-agent deployment algorithms in diverse environments.
作者：Edwin Meriaux, Antonio Loría, Gregory Dudek
来源
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