Multi-Target Search in Euclidean Space with Ray Shooting

The Euclidean shortest path problem (ESPP) is a well studied problem with many practical applications. Recently a new efficient online approach to this problem, RayScan, has been developed, based on ray shooting and polygon scanning. In this paper we show how we can improve RayScan by carefully reasoning about polygon scans. We also look into how RayScan could be applied in the single-source multi-target scenario, where logic during scanning is used to reduce the number of rays shots required. This improvement also helps in the single target case. We compare the improved RayScan+ against the state-of-the-art ESPP algorithm, illustrating the situations where it is better.