Voronoi-Based Spatial Representations
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In this chapter, we introduce the Voronoi-based route graph representation, which we will be concerned with in the remainder of this book, and its hierarchical extension. We will do this by going through a sequence of increasingly complex representations starting from the standard Voronoi diagram. Note that some of the names used for these structures are already in use in the robot mapping literature, but sometimes in a different sense. Especially, in contrast to the hierarchical generalized Voronoi graph of Choset et al. (Choset & Burdick, 2000; Choset et al., 2000), which is a generalization of Voronoi graphs to higher dimensions, our hierarchical Voronoi graphs are hierarchically organized representations of 2D space.
KeywordsLine Segment Path Planning Voronoi Diagram Point Site Visibility Boundary
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