A provably complete exploration strategy by constructing Voronoi diagrams

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38420

Title: A provably complete exploration strategy by constructing Voronoi diagrams
Author: Kim, Jonghoek ; Zhang, Fumin ; Egerstedt, Magnus B.
Abstract: We 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.
Description: The original publication is available at www.springerlink.com.
Type: Post-print
URI: http://hdl.handle.net/1853/38420
ISSN: 0929-5593
Citation: J. 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.
Date: 2010
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Springer Verlag
Subject: Voronoi diagrams
Map-making algorithms
Robot control

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