Optimal two-watchman routes in staircase polygons can be computed in O(n^2) time, and m-watchman min-max routes have an additive-error approximation.
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Multiple Watchman Routes in Staircase Polygons
Optimal two-watchman routes in staircase polygons can be computed in O(n^2) time, and m-watchman min-max routes have an additive-error approximation.