Minkowski Operations of Sets with Application to Robot Localization
This addresses localization for robots in unstructured settings, but appears incremental as it builds on existing separator and contractor methods.
The paper tackles robot localization in unstructured environments using sonar measurements by introducing separators based on Minkowski sum and difference operations to solve the problem efficiently, with a test-case provided to illustrate the approach.
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.