Dynamic Detection of Topological Information from Grid-Based Generalized Voronoi Diagrams

<table>The average computation time for updating GVD diagrams compared to related work. The methods preceded by “*” are dynamic methods that updates only the affected parts of the map.</table>

Mathematical Problems in Engineering

fig9

Figure 9

Figure 9: Dynamic Detection of Topological Information from Grid-Based Generalized Voronoi Diagrams 