%0 Conference Proceedings
%T Minkowski operations of sets with application to robot localization
%+ DGA/TN
%+ Pôle STIC_OSM
%+ Lab-STICC_ENSTAB_CID_PRASYS
%A Desrochers, Benoît
%A Jaulin, Luc
%< avec comité de lecture
%B SNR 2017
%C Uppsala, Sweden
%8 2017-04-22
%D 2017
%K Robot Autonome
%K localisation d'un robot
%K Contractors
%Z Engineering Sciences [physics]/AutomaticConference papers
%X This papers shows that using separators, which is a pair of two complementary contractors, we caneasily and efficiently solve the localization problem of a robot with sonar measurements in an unstructuredenvironment. We introduce separators associated with the Minkowski sum and the Minkowskidifference in order to facilitate the resolution. A test-case is given in order to illustrate the principleof the approach.
%G English
%L hal-01495287
%U https://hal.science/hal-01495287
%~ UNIV-BREST
%~ INSTITUT-TELECOM
%~ ENSTA-BRETAGNE
%~ CNRS
%~ UNIV-UBS
%~ ENSTA-BRETAGNE-STIC
%~ ENIB
%~ LAB-STICC
%~ TDS-MACS
%~ INSTITUTS-TELECOM