Bruno de Oliveira Schneider,  Luciana P. Nedel. 

This paper explores the use and proposes an adaptation of a technique based on the use of generalized Voronoi Diagrams to plan the movement of humanoids in virtual environments. The technique proposed takes advantage of graphics hardware to achieve interactive rates, avoiding manual landmarks (such as portals and hallways). Additionally, it allows the humanoid to take decisions on how to move, based on the height and width of the environment passages.

http://www.lbd.dcc.ufmg.br/colecoes/svr/2006/018.pdf

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