Figure2

Figure 2. Illustration of the ANS algorithm and the safety-aware model by creation of the GVD. (A) Depicts the equidistance property of the nodes and edges in the GVD model. (B) illustrates how we remove extraneous edge distances, which are small edges within the graph that reduce the search space or range in the ANS algorithm. (C) illustrates how the removal of those extraneous edges improves the range and how an access node to the graph can be found.