Hierarchical Voronoi Graphs : Spatial Representation and Reasoning for Mobile Robots - Wallgrün, Jan Oliver; SpringerLink (Online service) (Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2010)
Robot Mapping -- Voronoi-Based Spatial Representations -- Simplification and Hierarchical Voronoi Graph Construction -- Voronoi Graph Matching for Data Association -- Global Mapping: Minimal Route Graphs Under Spatial Constraints -- Experimental Evaluation -- Conclusions and Outlook.
Keywords: Robotics; Automation; Artificial intelligence; Robotics and Automation; Artificial Intelligence