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This function can be used to generate a "polytope bounded Voronoi diagram," a Voronoi diagram that is bounded by a polytope in Rd (in general, Voronoi diagram consists of cells that are unbounded). The function is based on Qhull library. This function was used to simulate motions of networked robots in a bounded workspace executing Lloyd's algorithm

This function generates an Approximate Tverberg Partition with maximum Tverberg depth for a sufficient number of 2D/3D points. Built upon the Qhull library, it was employed to simulate networked robot motions, executing our proposed robust rendezvous algorithms.

This function generates a polytope-bounded order-2 Voronoi diagram, a specialized type of order-2 Voronoi diagram constrained within an R^d polytope. It supports both 2D and 3D generator points. 

Built upon the robust Qhull library, the function was critically employed to simulate networked robot motions within a bounded workspace, facilitating the execution of our proposed robust deployment algorithm.