On the Geometry of Some Localisation Problems in Robotics
Selig, J.M. On the Geometry of Some Localisation Problems in Robotics. 2nd IMA Conference on the Mathematics of Robotics. Online 08 - 10 Sep 2021 Springer Verlag.
In this work a couple of localisation problems for mobile robots are revisited. Specifically the problem of finding the location of the robot from the distances to fixed beacons and using time differences of arrivals of signals at several stations are addressed. The aim is to study the geometry of these problems. In particular, tetracyclic coordinates are used to represent circles in the plane. These coordinates are an old idea that have not been used for these types of problem before. The coordinates help to simplify expressions and hence expose the underlying geometric ideas involved in these problems.
|Keywords||Localisation; Tetracyclic coordinates; Cyclographic coordinates; Osculating circles|
|Accepted author manuscript|
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|Publication process dates|
|Accepted||01 Jul 2021|
|Deposited||22 Sep 2021|
To appear in Proceedings of the 2nd IMA conference on Mathematics for Robotics, published by Springer Verlag.
Accepted author manuscript
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