Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph

  title={Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph},
  author={Howie Choset and Joel W. Burdick},
  journal={I. J. Robotics Res.},
The hierarchical generalized Voronoi graph (HGVG) is a new roadmap developed for sensor-based exploration in unknown environments. This paper defines the HGVG structure: a robot can plan a path between two locations in its work space or configuration space by simply planning a path onto the HGVG, then along the HGVG, and finally from the HGVG to the goal. Since the bulk of the path planning occurs on the one-dimensional HGVG, motion planning in arbitrary dimensioned spaces is virtually reduced… CONTINUE READING
Highly Influential
This paper has highly influenced 19 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 255 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 165 extracted citations

256 Citations

Citations per Year
Semantic Scholar estimates that this publication has 256 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 23 references

A “retraction

  • C. K. Yap
  • 1985
Highly Influential
4 Excerpts

SAGE Publications. All rights reserved. Not for commercial use or unauthorized distribution

  • tomation, San Diego, CA
  • 2000

Construction of C - space roadmaps using local sensory data — What should the sensors look for ?

  • P. F. Rowat
  • Proc . IEEE Int . Conf . on Robotics and…
  • 1994

Robot Navigation by Conditional Sequencing

  • V. J. Lumelsky
  • 1994

Similar Papers

Loading similar papers…