Hierarchical voronoi graphs : spatial representation and reasoning for mobile robots - Wallgrun, Jan Oliver (New York : Springer, 2009)
1. Introduction -- 2. Robot mapping -- 3. Voronoi-based spatial representations -- 4. Simplification and hierarchical voronoi graph construction -- 5. Voronoi graph matching for data association -- 6. Global mapping: minimal route graphs under spatial constraints -- 7. Experimental evalution -- 8. Conclusions and outlook
Includes bibliographical references and index
Keywords: Mobile robots -- Programming; Robots -- Dynamics; Spatial data infrastructures; Voronoi polygons