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Minkowski Operations of Sets with Application to Robot Localization

Abstract · Apr 11, 2017 00:56 ·

minkowski separators unstructured sonar contractors localization environment separator section robot cs-ro cs-ai cs-cg cs-sy

Arxiv Abstract

  • Benoit Desrochers
  • Luc Jaulin

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.

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