Dynamic Detection of Topological Information from Grid-Based Generalized Voronoi Diagrams
Figure 3
Distance map update between two configurations (a) and (d). Black represents occupied cells, brightness increases with distance. The inserted site (blue) initiates a “lower” wavefront shown in the intermediate steps (b) and (c) that updates the distances in the cells up to the point where a different obstacle is closer. The removed site (red outline) starts a “raise” wavefront (b) to clear the cells which lost their closest obstacle. When it comes to a halt it initiates a “lower” wavefront (c) that recomputes the distances for the cleared cells (white) on the basis of the remaining sites. This figure is cited from [6].
