A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
Sensor based planning. II. Incremental construction of the generalized Voronoi graph
Proceedings of 1995 IEEE International Conference on Robotics and Automation
T h i s paper prescribes a n incremental procedure t o construct the Generalized Voronoi Graph (GVG) and the Hierarchical Generalized Voronoi Graph (HGVG) detailed in t h e compansion paper  . T h e procedure requires only local distance sensor measurements, and therefore the method c a n be used as a basis f o r sensor based plannrng algorithms.doi:10.1109/robot.1995.525510 dblp:conf/icra/ChoesetB95 fatcat:e2zosgwjrrbzjgfbctytismjiy