TY - GEN
T1 - Crystal voronoi diagram and its applications to collision-free paths
AU - Kobayashi, Kei
AU - Sugihara, Kokichi
PY - 2001
Y1 - 2001
N2 - This paper studies the multiplicatively weighted crystal- growth Voronoi diagram, which describes the partition of the plane into crystals with different growth speeds. This type of the Voronoi diagram is defined, and its basic properties are investigated. An approximation algorithm is proposed. This algorithm is based on a finite difference method, called a fast marching method, for solving a special type of a partial differential equation. The proposed algorithm is applied to the planning of a collision-free path for a robot avoiding enemy attacks.
AB - This paper studies the multiplicatively weighted crystal- growth Voronoi diagram, which describes the partition of the plane into crystals with different growth speeds. This type of the Voronoi diagram is defined, and its basic properties are investigated. An approximation algorithm is proposed. This algorithm is based on a finite difference method, called a fast marching method, for solving a special type of a partial differential equation. The proposed algorithm is applied to the planning of a collision-free path for a robot avoiding enemy attacks.
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M3 - Conference contribution
AN - SCOPUS:84949671159
SN - 3540422323
SN - 9783540422327
VL - 2073
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 738
EP - 747
BT - Computational Science - ICCS 2001 - International Conference, 2001, Proceedings
PB - Springer Verlag
T2 - International Conference on Computational Science, ICCS 2001
Y2 - 28 May 2001 through 30 May 2001
ER -