# How to compute the field of view of a robot when obstacles are around?

Is there a formula to compute the field of view of a robot when it is obstructed by other objects like in this picture

When it is a full circle it should be FoV = (x-c1)² + (y-c2)² < r² Where (c1,c2) are the coordinates of the robot and r is the range of the sensor.

Thank you!