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ICRA
2005
IEEE

Iteratively Locating Voronoi Vertices for Dispersion Estimation

10 years 3 months ago
Iteratively Locating Voronoi Vertices for Dispersion Estimation
— We present a new sampling-based algorithm for iteratively locating Voronoi vertices of a point set in the unit cube Id = [0, 1]d . The algorithm takes an input sample and executes a series of transformations, each of which projects the sample to a new face of the Voronoi cell in which it is located. After d such transformations, the sample has been transformed into a Voronoi vertex. Locating Voronoi vertices has many potential applications for motion planning, such as estimating dispersion for coverage and verification applications, and providing information useful for Voronoi-biased or multiple-tree planning. We prove theoretical results regarding our algorithm, and give experimental results comparing it to naive sampling for the problem of dispersion estimation.
Stephen R. Lindemann, Peng Cheng
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Stephen R. Lindemann, Peng Cheng
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