Table 1
Navigation area boundary and its corresponding Voronoi field value
Navigation boundary level
The Voronoi value corresponding to the boundary level
0
0
1
(0, 0.2)
2
[0.2, 0.4)
3
[0.4, 0.6)
4
[0.6, 0.8)
5
[0.8, 1)
Navigation boundary level
The Voronoi value corresponding to the boundary level
0
0
1
(0, 0.2)
2
[0.2, 0.4)
3
[0.4, 0.6)
4
[0.6, 0.8)
5
[0.8, 1)
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