R. Mahkovic

About

R. Mahkovic is a robotics and computational geometry researcher whose work has made meaningful contributions to autonomous robot navigation and spatial representation in unknown environments. Specializing in the construction of Voronoi-based spatial structures from real sensor data, Mahkovic's research addresses one of mobile robotics' fundamental challenges: enabling robots to reason about and navigate through environments they have never encountered before. Mahkovic's most influential contribution is the development of the Generalized Local Voronoi Diagram (GLVD), a one-dimensional free-space representation constructed directly from laser range scanner data. This elegant approach allows a circular-base robot to build a reliable local map of its surroundings in real time, even when the environment is cluttered with arbitrarily shaped obstacles. The 2000 paper introducing this framework has accumulated 30 citations, while a 2002 refinement focusing on the visible region attracted 28 citations, reflecting sustained interest from the robotics community. A subsequent 2003 paper extended the method to full global environment reconstruction by integrating multiple local GLVDs into a coherent diagram. Together, these works form a cohesive body of research that bridges theoretical computational geometry and practical autonomous navigation, offering students and engineers a principled framework for sensor-based robot exploration.

Research Focus

Key Achievements

Top Papers

1. 1
   Constructing the generalized local Voronoi diagram from laser range scanner data

   30 citations · 2000
2. 2
   Generalized local Voronoi diagram of visible region

   28 citations · 2002
3. 3
   Construction of the generalized Voronoi diagram of the unknown environment

   5 citations · 2003

Key Collaborators

Contact & Links