Related, another cool thing that Voronoi graphs are useful for is enumeration all possible paths a robot can take in an environment. This can be used to determi

Related, another cool thing that Voronoi graphs are useful for is enumeration all possible paths a robot can take in an environment. This can be used to determine the quality of the map built with sonar/radar/lidar, to better understand the value of a sensor or algorithm in SLAM. I wrote a paper on it long ago, the third one listed here if you're interested http://chofter.com/masters.php http://chofter.com/masters.php