Scale-Space for Discrete Signals
IEEE Transactions on Pattern Analysis and Machine Intelligence
Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Spatial tessellations: concepts and applications of Voronoi diagrams
Spatial tessellations: concepts and applications of Voronoi diagrams
Cambrian intelligence: the early history of the new AI
Cambrian intelligence: the early history of the new AI
Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms
The 3rd International Symposium on Experimental Robotics III
Abstract Voronoi Diagrams and their Applications
CG '88 Proceedings of the International Workshop on Computational Geometry on Computational Geometry and its Applications
The visibility--voronoi complex and its applications
SCG '05 Proceedings of the twenty-first annual symposium on Computational geometry
Planning Algorithms
Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors
Journal of Intelligent and Robotic Systems
Intensity-based navigation with global guarantees
Autonomous Robots
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We present novel exploration algorithms that enable the construction of Voronoi diagrams over unknown areas using a vehicle equipped with range sensors. The underlying control law uses range measurements to make the vehicle track Voronoi edges between obstacles. The exploration algorithms make decisions at vertices in the Voronoi diagram to expand the explored area until a complete Voronoi diagram is constructed in finite time. Our exploration algorithms are provably complete, and the convergence of the control law is guaranteed. Simulations and experimental results are provided to demonstrate the effectiveness of both the control law and the exploration algorithms.