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.



• 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.

Turn in:

Submit hardcopy for individual assignment at the beginning of class.