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

Table 2

A comparison of the performances of the four approaches on four GVD construction and local repair scenarios: static construction for a complete map (static) and incremental construction with 75%, 50%, and 25% of the sites moving randomly in the map.

Algorithm	Static		75% move		50% move		25% move
	𝜇	𝜎	𝜇	𝜎	𝜇	𝜎	𝜇	𝜎
Brushfire	0.4532	0.033	0.4782	0.011	0.4892	0.025	0.4633	0.012
Dynamic Brushfire*	0.4621	0.014	0.2453	0.012	0.1375	0.006	0.0249	0.011
BL*	0.4574	0.002	0.2291	0.005	0.1168	0.031	0.0117	0.068
DTD*	0.4594	0.006	0.2402	0.021	0.1172	0.104	0.0123	0.017

∗Dynamic method that updates only the affected parts of the map.