  The Orthogonal Watchman Route Problem (OWRP) entails the search for the
shortest path, known as the watchman route, that a robot must follow within a
polygonal environment. The primary objective is to ensure that every point in
the environment remains visible from at least one point on the route, allowing
the robot to survey the entire area in a single, continuous sweep. This
research places particular emphasis on reducing the number of turns in the
route, as it is crucial for optimizing navigation in watchman routes within the
field of robotics. The cost associated with changing direction is of
significant importance, especially for specific types of robots. This paper
introduces an efficient linear-time algorithm for solving the OWRP under the
assumption that the environment is monotone. The findings of this study
contribute to the progress of robotic systems by enabling the design of more
streamlined patrol robots. These robots are capable of efficiently navigating
complex environments while minimizing the number of turns. This advancement
enhances their coverage and surveillance capabilities, making them highly
effective in various real-world applications.
