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

Choset, Howie and Burdick, Joel (1995) Sensor based planning. II. Incremental construction of the generalized Voronoi graph. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1643-1648. ISBN 0-7803-1965-6. https://resolver.caltech.edu/CaltechAUTHORS:20190612-111723884

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1995.525510DOIArticle
Additional Information:© 1995 IEEE. The authors gratefully acknowledge the support of the Office of Naval Research, Grant # N00014-93-1-0782. The authors also would like to thank Richard Murray, Jim Ostrowski, Andrew Lewis, Dave Kriegman, Luis Goncalves, Jonah Harley, and Elon Rimon for their input into the work found in both this paper and the companion paper.
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Office of Naval Research (ONR)N00014-93-1-0782
Record Number:CaltechAUTHORS:20190612-111723884
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190612-111723884
Official Citation:H. Choset and J. Burdick, "Sensor based planning. II. Incremental construction of the generalized Voronoi graph," Proceedings of 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 1643-1648 vol.2. doi: 10.1109/ROBOT.1995.525510
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96324
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Jun 2019 18:22
Last Modified:03 Oct 2019 21:21

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