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Voxel grids are a minimal and efficient environment representation that isused for robot motion planning in numerous tasks. Many state-of-the-artplanning algorithms use voxel grids composed of free, occupied and unknownvoxels. In this paper we propose a new GPU accelerated algorithm forpartitioning the space into a voxel grid with occupied, free and unknownvoxels. The proposed approach is low latency and suitable for high speednavigation.

GPU Accelerated Voxel Grid Generation for Fast MAV Exploration