  This paper gives an introduction to the problem of mapping simple polygons
with autonomous agents. We focus on minimalistic agents that move from vertex
to vertex along straight lines inside a polygon, using their sensors to gather
local observations at each vertex. Our attention revolves around the question
whether a given configuration of sensors and movement capabilities of the
agents allows them to capture enough data in order to draw conclusions
regarding the global layout of the polygon. In particular, we study the problem
of reconstructing the visibility graph of a simple polygon by an agent moving
either inside or on the boundary of the polygon. Our aim is to provide insight
about the algorithmic challenges faced by an agent trying to map a polygon. We
present an overview of techniques for solving this problem with agents that are
equipped with simple sensorial capabilities. We illustrate these techniques on
examples with sensors that mea- sure angles between lines of sight or identify
the previous location. We give an overview over related problems in
combinatorial geometry as well as graph exploration.
