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dc.contributor.authorKim, Jonghoek
dc.contributor.authorZhang, Fumin
dc.contributor.authorEgerstedt, Magnus B.
dc.date.accessioned2011-04-06T18:32:01Z
dc.date.available2011-04-06T18:32:01Z
dc.date.issued2010
dc.identifier.citationJ. Kim, F. Zhang, and M. Egerstedt. A Provably Complete Exploration Strategy by Constructing Voronoi Diagrams. Autonomous Robots, Vol. 29, No. 3, pp. 367-380, 2010.en_US
dc.identifier.issn0929-5593
dc.identifier.urihttp://hdl.handle.net/1853/38420
dc.descriptionThe original publication is available at www.springerlink.com.en_US
dc.description.abstractWe present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectVoronoi diagramsen_US
dc.subjectMap-making algorithmsen_US
dc.subjectRobot controlen_US
dc.titleA provably complete exploration strategy by constructing Voronoi diagramsen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.originalSpringer Verlag


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