Single-Point Visibility Constraint Minimum Link Paths in Simple Polygons

We address the following problem: Given a simple polygon 𝑝 with n vertices and two points s and t inside it, nd a minimum link path between them such that a given target point 𝑞 is visible from at least one point on the path. The method is based on partitioning a portion of 𝑝 into a number of faces of equal link distance from a source point. This partitioning is essentially a shortest path map (SPM). In this paper, we present an optimal algorithm with 𝑂(𝑛) time bound, which is the same as the time complexity of the standard minimum link paths problem.