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This book provides a structured introduction to offline search methods based on graph theory and their application to environment modeling and simulation. It combines theoretical foundations with practical tools to help readers understand how complex environments can be represented, analyzed, and explored using graph-based structures. The first part covers fundamental concepts of graph theory, including graphs, vertex degree, paths, cycles, connectivity, cut vertices, trees, and forests, which form the basis of search algorithms. The second part focuses on simulation and environment conditioning, addressing techniques such as edge detection, visibility graphs, graph simplification, and area graph construction. Through practical examples and simulations, the book demonstrates how these concepts are applied to real-world search and navigation problems, making it suitable for students, researchers, and engineers interested in graph-based modeling and algorithm design.
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