Solving the empty space problem in robot path planning by mathematical morphology

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In this paper we formulate a morphological approach to path planning problems, in particular with respect to the empty­-space problem, that is, the question of finding the allowed states for an object, moving in a space with obstacles. Our approach is based upon a recent generalization of mathematical morphology to spaces with noncommutative invariance groups.
Original languageEnglish
Title of host publicationEPRINTS-BOOK-TITLE
PublisherUniversity of Groningen, Johann Bernoulli Institute for Mathematics and Computer Science
Number of pages6
Publication statusPublished - 1993

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