Sensor-based Trajectory Deformation: Application to Reactive Navigation of Nonholonomic Robots - Visual Servoing via Advanced Numerical Methods - page 321

17.6.2 The Unloading Platform Has Been Moved

Figure 17.7 illustrates the case where the unloading platform has been moved and
the map has not been updated. Moreover, the shape of the unloading platform has
changed: it is larger than the docking pattern . The matching between the perception
and the docking pattern is robust to these perturbations and the docking configura-
tion is still defined relatively to the unloading platform.

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