applications, the optimal solution is extremely important because it directly impacts the efficiency of allocated resources. This talk focuses on establishing numerical methods for visibility-related optimal control problems. We address problems under limited sensing ability which arises as an essential part in many scientific fields, e.g., robotic path planning, unmanned automatic vehicles, and designs of the surveillance system. We formulate the problem using the level set framework and find the solution using an optimization method with SDEs. After some modeling issues are addressed, numerical results are presented.