Homework 7
16-311 Introduction to Robotics
Prof. Howie Choset

• (80%) Group: Lab 6
• (20%) Individual:

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  Moved from the previous homework:
• Draw the Voronoi diagram for the workspace in Figure 1. We suggest that you print out the sample environment and draw your answer on the printout.

• On a separate piece of paper, draw the Voronoi diagram for the configuration space of the same envrionment.

FIGURE 1

• 1. Based on the material presented in class thus far, make up a reasonable question for the final exam. These questions will be posted on the web site and we will pick from this pool of questions for the final. We recommend considering Bloom's Taxonomy (it is described here , among other places). The best questions will fall into the evaluation, analysis, or synthesis categories.



• 2. Draw two Voronoi diagrams for the following environment: one using the Euclidean distance metric and the other using the Manhattan distance function (L1 metric). For the Euclidean metric, you can envision and circle that expands and contracts; when two or more points on the circle touch an obstacle, the center is on the Voronoi diagram. For the Manhattan metric, use a diamond. Hand in a hard copy in class.