On Learning Optimal Corners in Orthogonal Partially Observable Cooperative Guard Art Galleries
Yassin Ben MansourEdwin Meriaux
Oct 2026
Machine LearningRobotics
Abstract
The CADENCE algorithm solves the Partially Observable Cooperative Guard Art Gallery Problem (POCGAGP) with formal coverage and connectivity guarantees, but leaves unspecified which valid corner each agent should be deployed to, a choice that strongly affects efficiency. We introduce two learned corner-selection heuristics that preserve these guarantees: a CNN scoring candidates on a grid encoding, and a GATv2 network trained with Deep Q-Learning (DQN) on a visibility graph. Across 7,500 runs on random orthogonal environments (50x50 to 250x250), our heuristics outperform baseline CADENCE in both steps to full coverage and peak agent count, with gains growing with scale, and improve on Incremental Self-Deployment (ISDA) baselines in agent utilization while providing guarantees ISDA lacks. Learned corner selection thus improves CADENCE in speed and agent utilization at no cost to its formal properties.
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