Autonomous Robots

, Volume 29, Issue 3–4, pp 367–380 | Cite as

A provably complete exploration strategy by constructing Voronoi diagrams



We present novel exploration algorithms that enable the construction of Voronoi diagrams over unknown areas using a vehicle equipped with range sensors. The underlying control law uses range measurements to make the vehicle track Voronoi edges between obstacles. The exploration algorithms make decisions at vertices in the Voronoi diagram to expand the explored area until a complete Voronoi diagram is constructed in finite time. Our exploration algorithms are provably complete, and the convergence of the control law is guaranteed. Simulations and experimental results are provided to demonstrate the effectiveness of both the control law and the exploration algorithms.


Voronoi diagrams Map-making algorithms Robot control 


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Copyright information

© Springer Science+Business Media, LLC 2010

Authors and Affiliations

  1. 1.School of Electrical and Computer EngineeringGeorgia Institute of TechnologyAtlantaUSA

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