|
|
|
|
RI | Publications | Incremental Reconstruction of Generalized Voronoi Diagrams on Grids
|
|
Text only version of this site
Incremental Reconstruction of Generalized Voronoi Diagrams on Grids
N. Kalra, D. Ferguson, and A. Stentz
Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [4551 KB]
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 |
We present an incremental algorithm for constructing and reconstructing Generalized Voronoi Diagrams (GVDs) on grids. Our algorithm, Dynamic Brushfire, uses techniques from the path planning community to efficiently update GVDs when the underlying environment changes or when new information concerning the environment is received. Dynamic Brushfire is an order of magnitude more efficient than current approaches. In this paper we present the algorithm, compare it to current approaches on several experimental domains involving both simulated and real data, and demonstrate its usefulness for multirobot path planning.
| Notes |
Associated centers: VASC and FRC
Associated lab/group: NavLab
Associated project: CTA Robotics
| Text Reference |
N. Kalra, D. Ferguson, and A. Stentz, "Incremental Reconstruction of Generalized Voronoi Diagrams on Grids," Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006.
| BibTeX Reference |
@inproceedings{Kalra_2006_5307,
author = "Nidhi Kalra and David Ferguson and Anthony (Tony) Stentz",
title = "Incremental Reconstruction of Generalized Voronoi Diagrams on Grids",
booktitle = "Proceedings of the International Conference on Intelligent Autonomous Systems (IAS)",
month = "March",
year = "2006"
}