Sensor based planning. I. The generalized Voronoi graph

Choset, Howie and Burdick, Joel (1995) Sensor based planning. I. The generalized Voronoi graph. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1649-1655. ISBN 0-7803-1965-6. https://resolver.caltech.edu/CaltechAUTHORS:20190612-135455797

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Abstract

This paper introduces a 1-dimensional network of curves termed the generalized Voronoi graph (GVG) and its extension, the hierarchical generalized Voronoi graph (HGVG), which can be used as a basis for a roadmap or retract-like structure. The GVG and HGVG provide a basis for sensor based path planning in an unknown static environment. In this paper, the GVG and HGVG are defined and some of their properties are exploited to show their utility for motion planning. A companion paper describes how to use the GVG and HGVG for the purposes of sensor based planning.

Item Type:

Book Section

Related URLs:

URL	URL Type	Description
https://doi.org/10.1109/ROBOT.1995.525511	DOI	Article

Additional Information:

DOI:

10.1109/ROBOT.1995.525511

Record Number:

CaltechAUTHORS:20190612-135455797

Persistent URL:

https://resolver.caltech.edu/CaltechAUTHORS:20190612-135455797

Official Citation:

H. Choset and J. Burdick, "Sensor based planning. I. The generalized Voronoi graph," Proceedings of 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 1649-1655 vol.2. doi: 10.1109/ROBOT.1995.525511

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ID Code:

96338

Collection:

CaltechAUTHORS

Deposited By:

Tony Diaz

Deposited On:

12 Jun 2019 20:59

Last Modified:

16 Nov 2021 17:20

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