Voronoi diagrams (also known as Voronoi tessellations) are an important mathematical concept with many applications in robotics, particularly for path planning and navigation. This page provides resources related to Voronoi diagrams and their application in robotic navigation.

Documentation and Papers

Voronoi Diagram Notes 1

Fundamental concepts and definitions of Voronoi diagrams

Voronoi Diagram Notes 2

Advanced applications and algorithms for Voronoi diagrams

Voronoi Diagram Slides

Presentation slides covering key Voronoi concepts

Map Generalization by Skeleton Retraction

Research paper on map simplification using skeletonization

Algorithm for Vectorising Spatial Maps

Sweep-based approach to vectorizing occupancy grid maps

Source Code

C++ Implementation

VoronoiDiagramGenerator.h

Header file with class definitions

VoronoiDiagramGenerator.cpp

Implementation of the algorithm

voronoi_main.cpp

Example usage and demo program

Java Implementation

Java Voronoi Implementation

Complete Java implementation with applet demo

Java Applet Demo

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Interactive Voronoi Diagram Demo

This Java applet demonstrates Voronoi diagram generation in real-time. You can add, move, and remove sites to see how the Voronoi diagram changes.

Note: May not work in modern browsers due to Java applet security restrictions.

▶️ Launch Demo

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