CaltechAUTHORS
Published May 1995 | Version Published
Book Section - Chapter Open

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

Creators

  • 1. ROR icon California Institute of Technology

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.

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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Eprint ID
96324
Resolver ID
CaltechAUTHORS:20190612-111723884

Funding

Office of Naval Research (ONR)
N00014-93-1-0782

Dates

Created
2019-06-12
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Updated
2021-11-16
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