AN IMPROVED AUTONOMOUS EXPLORATION FRAMEWORK FOR INDOOR MOBILE ROBOTICS USING REDUCED APPROXIMATED GENERALIZED VORONOI GRAPHS

This article proposes an optimized transformation for topographic datasets. The resulting topographic grid exhibits good surface approximation and quasi-uniform high-quality. Both features of the processed topography build a concrete base from which improved endogenous or exogenous parameters can be derived, and makes it suitable for Earth and environmental simulations.