IJRR
2000
13 years 11 months ago
2000
This paper prescribes an incremental procedure to construct roadmaps of unknown environments. Recall that a roadmap is a geometric structure that a robot uses to plan a path betwe...
IJRR
2000
13 years 11 months ago
2000
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...