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Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized V oronoi graph GVG. The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need t o u p date encoder values. Experimentaldoi:10.1109/robot.1998.676421 dblp:conf/icra/NagataniCT98 fatcat:6fzvxni3indcpokuw4jc2r7zg4