We provide a comprehensive study of a natural geometric optimization problem motivated by questions in the context of satellite communication and astrophysics. In the problem Minimum Scan Cover with Angular Costs (MSC), we are given a graph $G$ that is embedded in Euclidean space. The edges of $G$ need to be scanned, i.e., probed from both of their vertices. In order to scan their edge, two vertices need to face each other; changing the heading of a vertex takes some time proportional to the corresponding turn angle. Our goal is to minimize the time until all scans are completed, i.e., to compute a schedule of minimum makespan. We show that MSC is closely related to both graph coloring and the minimum (directed and undirected) cut cover problem; in particular, we show that the minimum scan time for instances in 1D and 2D lies in $Theta(log chi (G))$, while for 3D the minimum scan time is not upper bounded by $chi (G)$. We use this relationship to prove that the existence of a constant-factor approximation implies $P=NP$, even for one-dimensional instances. In 2D, we show that it is NP-hard to approximate a minimum scan cover within less than a factor of $frac{3}{2}$, even for bipartite graphs; conversely, we present a $frac{9}{2}$-approximation algorithm for this scenario. Generally, we give an $O(c)$-approximation for $k$-colored graphs with $kleq chi(G)^c$. For general metric cost functions, we provide approximation algorithms whose performance guarantee depend on the arboricity of the graph.
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