Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph

Howie Choset and J. Burdick
Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), May, 1995, pp. 1643 - 1648.


Download
  • Adobe portable document format (pdf) (209KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

Notes
Associated Lab(s) / Group(s): Biorobotics
Associated Project(s): Retract-like structures for Euclidian Spaces and Bridge Inspection with Serpentine Robots

Text Reference
Howie Choset and J. Burdick, "Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph," Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), May, 1995, pp. 1643 - 1648.

BibTeX Reference
@inproceedings{Choset_1995_1410,
   author = "Howie Choset and J. Burdick",
   title = "Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph",
   booktitle = "Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95)",
   pages = "1643 - 1648",
   month = "May",
   year = "1995",
   volume = "2",
}