Solving the empty space problem in robot path planning by mathematical morphology
J.B.T.M. Roerdink. Solving the empty space problem in robot path planning by mathematical morphology. In: Proc. Workshop `Mathematical Morphology and its Applications to Signal Processing', Barcelona, Spain, May 12-14, J. Serra and P. Salembier (eds.), 1993, pp. 216-221.
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.
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