Motion planning of robot using voronoi diagram

In mathematics, a Voronoi Diagram is a partitioning of a plane into regions based on distance to points in a specific subset of the plane. A Voronoi diagram is defined to be the set of points equidistant from two or more generators (points, segments, polygons, …) under the appropriate metric (usually the Euclidean distance). This construction received considerable attention in the early eighties as a…

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