Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams.

Kenneth E. Hoff III Tim Culver John Keyser Ming C. Lin Dinesh Manocha Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams. 2931-2937 2000 conf/icra/2000 ICRA db/conf/icra/icra2000.html#HoffCKLM00