We present techniques for fast motion planning by using discrete approximations of generalized Voronoi diagrams, computed with graphics hardware. Approaches based on this diagram computation are applicable to both static and dynamic environments of fairly high complexity. We compute a discrete Voronoi diagram by rendering a three-dimensional distance mesh for each Voronoi site. The sites can be...

It is well-known that the Voronoi diagram of points and the power diagram for weighted points, such as spheres, are cell complexes, and their respective dual structures, i.e. the Delaunay triangulation and the regular triangulation, are simplicial complexes. Hence, the topologies of these diagrams are usually stored in their dual complexes using a very compact data structure of arrays. The topo...

Generalized Voronoi diagrams of objects are di cult to compute in a robust way, especially in higher dimensions. For a number of applications an approximation of the real diagram within some predetermined precision is su cient. In this paper we study the computation of such approximate Voronoi diagrams. The emphasis is on practical applicability, therefore we are mainly concerned with fast (in ...

We tackle the problem of computing the Voronoi diagram of a 3-D polyhedron whose faces are planar. The main difficulty with the computation is that the diagram’s edges and vertices are of relatively high algebraic degrees. As a result, previous approaches to the problem have been non-robust, difficult to implement, or not provenly correct. We introduce three new proximity skeletons related to t...

By integrating stylized rendering with an efficient multiresolution image representation, we enable the user to control how compression affects the aesthetic appearance of an image. Adopting a point-based rendering approach to progressive image transmission and compression, we represent an image by a sequence of color values. To best approximate the image at progressive levels of detail, a nove...

Voronoi diagrams are among the most important data structures in geometric modeling. Among many efficient algorithms for computing 2D Voronoi diagrams, Fortune’s sweepline algorithm (Fortune, 1986 [5]) is popular due to its elegance and simplicity. Dehne and Klein (1987) [8] extended sweepline to sweepcircle and suggested computing a type of transformed Voronoi diagram, which is parallel in nat...

In this paper, we propose an approximate "fuzzy Voronoi" diagram (FVD)for fuzzy numbers of dimension two (FNDT) by designing an extension of crisp Voronoi diagram for fuzzy numbers. The fuzzy Voronoi sites are defined as fuzzy numbers of dimension two. In this approach, the fuzzy numbers have a convex continuous differentiable shape. The proposed algorithm has two stages: in the first stage we ...

We present techniques for fast motion planning by using discrete approximations of generalized Voronoi diagrams, computed with graphics hardware. Approaches based on this diagram computation are applicable to both static and dynamic environments of fairly high complexity. We compute a discrete Voronoi diagram by rendering a three-dimensional distance mesh for each Voronoi site. The sites can be...

Let S be a set of n + m sites, of which n are red and have weight wR, and m are blue and weigh wB. The objective of this paper is to calculate the minimum value of the red sites’ weight such that the union of the red Voronoi cells in the weighted Voronoi diagram of S is a connected region. This problem is solved for the multiplicativelyweighted Voronoi diagram in O((n+m)2 log(nm)) time and for ...

This paper applies the randomized incremental construction (RIC) framework to computing the Hausdorff Voronoi diagram of a family of k clusters of points in the plane. The total number of points is n. The diagram is a generalization of Voronoi diagrams based on the Hausdorff distance function. The combinatorial complexity of the Hausdorff Voronoi diagram is O(n + m), where m is the total number...