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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.

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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.

Associated centers: VASC and FRC
Associated lab/group: NavLab
Associated project: CTA Robotics

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.

@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"
}