Invention Grant
- Patent Title: Methods and systems for complete coverage of a surface by an autonomous robot
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Application No.: US14880610Application Date: 2015-10-12
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Publication No.: US09895808B2Publication Date: 2018-02-20
- Inventor: Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
- Applicant: iRobot Corporation
- Applicant Address: US MA Bedford
- Assignee: iRobot Corporation
- Current Assignee: iRobot Corporation
- Current Assignee Address: US MA Bedford
- Agency: Myers Bigel, P.A.
- Main IPC: G05D1/02
- IPC: G05D1/02 ; G05D3/12 ; B25J9/16 ; B25J5/00 ; G05D1/00 ; B08B7/00

Abstract:
A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
Public/Granted literature
- US20160101523A1 METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT Public/Granted day:2016-04-14
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