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Sensor based planning. II. Incremental construction of the generalized Voronoi graph
Proceedings of 1995 IEEE International Conference on Robotics and Automation
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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 [4] . 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