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Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph


Choset, Howard Marc (1996) Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/49ee-a204.


Sensor based motion planning incorporates sensor information reflecting the state of a robot's environment into its planning process, whereas traditional approaches assume complete prior knowledge of the robot's environment. Recent research has focused on the development and incremental construction of the hierarchical generalized Voronoi graph (HGVG), which is a concise representation of a robot's environment. The HGVG is advantageous in that it lends itself to sensor based construction in a rigorous and provably correct manner. With this approach, a robot can enter an unknown environment, incrementally construct the HGVG, and then use the HGVG for future excursions in the environment. Simulations and experiments validate this approach.

Item Type:Thesis (Dissertation (Ph.D.))
Subject Keywords:(Mechanical Engineering) ; Hierarchical Generalized Voronoi Graph
Degree Grantor:California Institute of Technology
Division:Engineering and Applied Science
Major Option:Mechanical Engineering
Thesis Availability:Public (worldwide access)
Research Advisor(s):
  • Burdick, Joel Wakeman
Thesis Committee:
  • Burdick, Joel Wakeman (chair)
  • Lewis, Andrew D.
  • Antonsson, Erik K.
  • Perona, Pietro
  • Murray, Richard M.
Defense Date:5 March 1996
Record Number:CaltechETD:etd-12182007-090504
Persistent URL:
Choset, Howard Marc0000-0002-2266-8744
Default Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5048
Deposited By: Imported from ETD-db
Deposited On:08 Jan 2008
Last Modified:17 Jul 2023 23:52

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