Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph

By Howie Choset, Joel W. Burdick. Int. J. Robotics Res., 2000

323 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Graphics and Computer-Aided Design, Computer Vision and Pattern Recognition

View Paper: https://www.semanticscholar.org/paper/b1d284df4edec215a2b88c9d8fd00be66723ba52

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In Aerospace Engineering

In Computer Graphics and Computer-Aided Design

In Computer Vision and Pattern Recognition

Citations in the corpus

A survey on coverage path planning for robotics (2013, methodology): “In this case, the robot can cover the narrow space by simply following the Generalized Voronoi Diagram (GVD) of that space, which are sets of points equidistant to two obstacles (Choset and Burdick, 2000; de Berg et al., 2008) (see Fig.”
Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments (2010, methodology): “The approach of using discrete global search in combination with post-processing smoothing and the trajectoryoptimization technique is also common in motion planing (see Choset et al. (2005) and reference therein). There is a significant body of previous work on analytical global trajectory optimiza”
A review: On path planning strategies for navigation of mobile robot (2019, background): “It is the way to get from one place to another and the connection among the free spaces is represented by a set of one-dimensional curves [22].”
Socially compliant mobile robot navigation via inverse reinforcement learning (2016, background): “In general, the Voronoi diagram is defined as the set of points in free space to which the two closest obstacles have the same distance (Choset and Burdick, 2000).”
Coordinated multi-robot exploration using a segmentation of the environment (2008, background): “A very popular graph-based representation in this context are Voronoi Graphs (VGs) [5].”
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance (2010, unknown): “More recently, Choset and Burdick [21] proposed a hierarchical Voronoi graph generalized to multiple dimensions, and in [22] the algorithm is updated to allow incremental construction.”