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

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 $n\mathrm{/}2+h-2$ 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.