# G²VD Planner: Efficient Motion Planning With Grid-Based Generalized Voronoi Diagrams

> Research article (IEEE Transactions on Automation Science and Engineering, 2024) · cited 20× · AI/ML

**Wikidata**: [openalex:W4398226375](https://www.wikidata.org/wiki/openalex:W4398226375)  
**Source**: https://4ort.xyz/entity/g2vd-planner-efficient-motion-planning-with-grid-based-generalized-voronoi-diagrams