Many robot tasks may involve achieving visibility (such as to observe areas of interest) or maintaining occlusion (such as to avoid disturbing other agents). We generally formulate such sequential visibility tasks for 3D worlds, termed the Park Rangers’ Problem, and we develop an approach to solve such tasks offering completeness under certain requirements. Our approach constructs an abstraction based on an exact test for visibility between areas, and multiple tests and relaxations for the nonconvex problem of determining occlusions between areas. We apply a constraint-based planning approach and iteratively refine the abstraction. Finally, we evaluate the approach on simulated visibility scenarios.