Minkowski Operations of Sets with Application to Robot Localization

This papers shows that using separators, which is a pair of two complementary contractors, we can easily and efficiently solve the localization problem of a robot with sonar measurements in an unstructured environment. We introduce separators associated with the Minkowski sum and the Minkowski diffe...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2017-04
Main Authors: Desrochers, Benoit, Jaulin, Luc
Format: Article
Language:English
Subjects:
Contractors
Localization
Robots
Separators
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This papers shows that using separators, which is a pair of two complementary contractors, we can easily and efficiently solve the localization problem of a robot with sonar measurements in an unstructured environment. We introduce separators associated with the Minkowski sum and the Minkowski difference in order to facilitate the resolution. A test-case is given in order to illustrate the principle of the approach.
ISSN:2331-8422
DOI:10.48550/arxiv.1704.03103