Published May 1995
| Published
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Sensor based planning. II. Incremental construction of the generalized Voronoi graph
- Creators
- Choset, Howie
- Burdick, Joel
Chicago
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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.
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.Attached Files
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Additional details
- Eprint ID
- 96324
- Resolver ID
- CaltechAUTHORS:20190612-111723884
- Office of Naval Research (ONR)
- N00014-93-1-0782
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2019-06-12Created from EPrint's datestamp field
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2021-11-16Created from EPrint's last_modified field