In this paper we present the geometrical construction of an approximate generalized Voronoi diagram for generalized polygons and circular objects based on their minimum geometrica...
Abstract. The connectivity of the con guration space has been a valuable concept in the motion planning for single robots in both known and unknown terrains. We show here that n-co...
We introduce a new type of diagram called the VV(c)-diagram (the visibility–Voronoi diagram for clearance c), which is a hybrid between the visibility graph and the Voronoi diag...
The hierarchical generalized Voronoi graph (HGVG) is a new roadmap developed for sensor-based exploration in unknown environments. This paper defines the HGVG structure: a robot c...