Voronoi, an illustrative introduction

Nonreal Voronoi (w/ visual elements)

Voronoi (Fortune's Algorithm)

Follow Voronoi (Planned but Path not affected)

Follow Voronoi (Planned and Path Followed)

Random Voronoi 

Generate Voronoi diagram and safe route

(Random Voronoi Art)

Voronoi revealed

(Voronoi structure)

(Emerging over time)