Telling convex from reflex allows to map a polygon

Jeremie Chalopin, Shantanu Das, Yann Disser, Matus Mihalak & Peter Widmayer
We consider the exploration of a simple polygon P by a robot that moves from vertex to vertex along edges of the visibility graph of P. The visibility graph has a vertex for every vertex of P and an edge between two vertices if they see each other, i.e.~if the line segment connecting them lies inside $P$ entirely. While located at a vertex, the robot is capable of ordering the vertices it sees in counter-clockwise...