Sensor based planning. II. Incremental construction of the generalized Voronoi graph

H. Choset, J. Burdick
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 [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