Graph-Based Multi Robot Motion Planning: Feasibility and Structural Properties

Masehian, Ellips; Nejad, Azadeh H.

doi:10.5772/12859

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Voronoi Diagram1

Visibility Graphs1

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“…A Voronoi diagram (VD) is one of the most important and popular methods for generating a roadmap from a C-space. This diagram is defined as the collection of points equidistant from two or more objects, see Figure 3.7 [135]. It can be built as the robot enters a new environment.…”

Section: Voronoi Diagrammentioning

confidence: 99%

“…The key concept of the visibility graph method is that if there is a free-collision path among two points, then there is a polygonal path that bends just at the obstacle's nodes. Free-collision path time and space in 2D, where n is the number of vertices [135]. The configuration space (2dimensional) of the VG is known as a network that is established from sets of vertices (V) and edges (E) and it includes a set of polygonal obstacles (O) [129][131].…”

Section: Visibility Graphsmentioning

confidence: 99%

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