v.voronoi: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/lib64/grass-6.4.4/bin/v.voronoi - from package: grass

You may install the required package with command yum install {package}

On Debian possible default full paths are:

/usr/lib/grass64/bin/v.voronoi - from package: grass-core

You may install the required package with command apt-get install {package}

Error in other languages:
v.voronoi: bevel nie gevind nie
v.voronoi: comandă negăsită
v.voronoi: comando não encontrado
v.voronoi: commande introuvable
v.voronoi: command not found
v.voronoi: käsku ei ole
v.voronoi: không tìm thấy lệnh
v.voronoi: komanda nerasta
v.voronoi: Kommando nicht gefunden.
v.voronoi: kommandot finns inte
v.voronoi: komut yok
v.voronoi: nie znaleziono polecenia
v.voronoi: níor aimsíodh an t-ordú
v.voronoi: no se encontró la orden
v.voronoi: no s'ha trobat l'ordre
v.voronoi: opdracht niet gevonden
v.voronoi: parancs nem található
v.voronoi: perintah tidak ditemukan
v.voronoi: príkaz nenájdený
v.voronoi: příkaz nenalezen
v.voronoi: команда не найдена
v.voronoi: командата не е открита
v.voronoi: 命令找不到
v.voronoi: コマンドが見つかりません