# A Reusable Generalized Voronoi Diagram-Based Feature Tree for Fast Robot Motion Planning in Trapped Environments

> Research article (IEEE Sensors Journal, 2021) · cited 26× · AI/ML

**Wikidata**: [openalex:W3125100443](https://www.wikidata.org/wiki/openalex:W3125100443)  
**Source**: https://4ort.xyz/entity/a-reusable-generalized-voronoi-diagram-based-feature-tree-for-fast-robot-motion-planning-in-trapped-environments