Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1643 - 1648, May, 1995
Abstract
This paper prescribes an incremental procedure to construct the generalized Voronoi graph (GVG) and the hierarchical generalized Voronoi graph (HGVG) detailed in the companion paper. The procedure requires only local distance sensor measurements, and therefore the method can be used as a basis for sensor based planning algorithms.
BibTeX
@conference{Choset-1995-13876,author = {Howie Choset and J. Burdick},
title = {Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1995},
month = {May},
volume = {2},
pages = {1643 - 1648},
}
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