# On Learning Optimal Corners in Orthogonal Partially Observable Cooperative Guard Art Galleries

arXiv: https://arxiv.org/abs/2610.06777 · HTML: https://mlsanity.com/paper/2610.06777/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 8 references that are in the map.
- First posted on arXiv 5 Oct 2026.

## Builds on (most cited first, 1 of 1)

- [On Mobile Ad Hoc Networks for Coverage of Partially Observable Worlds](https://mlsanity.com/paper/2512.09495/) (2025)

## Abstract (arXiv)

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.