<title>Morphological technique for combination of sensor readings</title>

Abstract

A primary task which must be accomplished by mobile robots is that of self-location or position determination. This task should utilize all available sensors which can supply useful information and must be able to combine that information in a way which minimizes uncertainty. One such method for combining this information is presented in this paper. It is based on using morphological operators on sets representing the environment with structuring elements representing the sensor readings. This method applies to those situations where the environment is known and can be represented by sets of 2 dimensional geometric objects. I.