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公开(公告)号：US20220113742A1
公开(公告)日：2022-04-14
申请号：US17394772
申请日：2021-08-05
发明人： Jeffery Saunders
摘要： In an example, a method for controlling a vehicle in a degraded visual environment is provided. The method includes identifying a degraded visual environment corresponding to a phase of a route followed by the vehicle. The method includes determining, based on the phase of the route, a first segment of a trajectory of the vehicle along which to search for a location with an improved navigation environment. The method includes causing the vehicle to follow the first segment until: (i) identifying the improved navigation environment, or (ii) reaching an end of the first segment without identifying the improved navigation environment. The method includes determining a second segment of the trajectory based on whether the improved navigation environment has been identified. The method includes causing the vehicle to follow the second segment.
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公开(公告)号：US20220034681A1
公开(公告)日：2022-02-03
申请号：US17148164
申请日：2021-01-13
发明人： Nathan Otenti , Joseph Chung , Jeffery Saunders
摘要： A method of supporting robot(s) landing within a ground region is provided. The method includes accessing a map in which the ground region is tessellated into cells covering respective areas of the ground region. Each cell is classified as feasible to indicate a respective area is feasible for landing, or infeasible to indicate the respective area is infeasible for landing. The map is searched for clusters of adjoining cells that are classified as feasible, covering clusters of adjoining areas that define sub-regions within the ground region that are feasible for landing. The sub-regions are ranked according to a cost metric, and one of the sub-regions is selected according to the ranking. A geographic position of the selected sub-region is then output for use in at least one of guidance, navigation or control of the robot(s) to land at the selected sub-region within the ground region.
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公开(公告)号：US20240310185A1
公开(公告)日：2024-09-19
申请号：US18673760
申请日：2024-05-24
发明人： Nathan Otenti , Joseph Chung , Jeffery Saunders
IPC分类号： G01C21/00 , G05D1/46 , G06F17/16 , G06F18/232 , G06V20/13
CPC分类号： G01C21/3826 , G05D1/46 , G06F17/16 , G06F18/232 , G06V20/13
摘要： A method of supporting robot(s) landing within a ground region is provided. The method includes accessing a map in which the ground region is tessellated into cells covering respective areas of the ground region. Each cell is classified as feasible to indicate a respective area is feasible for landing, or infeasible to indicate the respective area is infeasible for landing. The map is searched for clusters of adjoining cells that are classified as feasible, covering clusters of adjoining areas that define sub-regions within the ground region that are feasible for landing. The sub-regions are ranked according to a cost metric, and one of the sub-regions is selected according to the ranking. A geographic position of the selected sub-region is then output for use in at least one of guidance, navigation or control of the robot(s) to land at the selected sub-region within the ground region.
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公开(公告)号：US20220035339A1
公开(公告)日：2022-02-03
申请号：US17148093
申请日：2021-01-13
IPC分类号： G05B19/4155 , G05D1/02
摘要： A method is provided for causing one or more robots to execute a mission. The method includes determining a behavior tree in which the mission is modeled, and causing the one or more robots to execute the mission using the behavior tree and a leaf node library. The behavior tree is expressed as a directed tree of nodes including a switch node, a trigger node representing a selected task, and action nodes representing others of the tasks. The switch node is connected to the trigger node and the action nodes in a parent-child relationship in which the trigger node and the action nodes are children of the switch node. The trigger node is a first of the children that, when ticked by the switch node, returns an identifier of one of the action nodes to trigger the switch node to next tick the one of the action nodes.
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公开(公告)号：US11999479B2
公开(公告)日：2024-06-04
申请号：US17447540
申请日：2021-09-13
IPC分类号： G05D1/10 , B64C39/02 , G01C21/00 , G05D1/00 , G06Q10/047 , G06Q10/0631 , G06Q50/30
CPC分类号： B64C39/024 , G01C21/3807 , G05D1/1064 , G06Q10/047 , B64U2201/10 , G06Q10/06313 , G06Q50/30
摘要： Techniques for traversing in an environment that includes at least one obstacle, by a mobile autonomous system, to a destination in the environment, are presented. The techniques can include generating, prior to the mobile autonomous system commencing activity in the environment, a graph including a plurality of vertices representing positions in the environment and a plurality of edges between vertices representing feasible transitions by the mobile autonomous vehicle in the environment; annotating the graph with at least one edge connecting a representation of a present position of the mobile autonomous system to a vertex of the graph; determining, based on the graph, a path from the present position of the mobile autonomous system in the environment to the destination; and traversing the environment to the destination, by the mobile autonomous system, based on the path.
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公开(公告)号：US20220036745A1
公开(公告)日：2022-02-03
申请号：US17148185
申请日：2021-01-13
摘要： A method is provided for supporting a robot in response to a contingency event. The method includes detecting the contingency event during travel of the robot on a route to a destination. In response, the method includes determining a position of the robot, and accessing information about alternate destinations associated with the route. The method includes selecting an alternate destination from the alternate destinations based on a time to travel from the position of the robot to the alternate destination, and the information. And the method includes outputting an indication of the alternate destination for use in at least one of guidance, navigation or control of the robot to the alternate destination.
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公开(公告)号：US11557210B2
公开(公告)日：2023-01-17
申请号：US16951621
申请日：2020-11-18
发明人： Jeffery Saunders
摘要： The present disclosure is directed to systems and methods for trajectory and route planning including obstacle detection and avoidance for an aerial vehicle. For example, an aerial vehicle's flight control system may include a trajectory planner that may use short segments calculated using an iterative Dubins path to find a first path between a start point and an end point that does not avoid obstacles. Then the trajectory planner may use a rapidly exploring random tree algorithm that uses points along the first path as seed points to find a trajectory or route between the start point and end point that avoids known or detected obstacles.
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公开(公告)号：US20220035372A1
公开(公告)日：2022-02-03
申请号：US17148141
申请日：2021-01-13
发明人： Jeffery Saunders , Alfredo Giuliano
IPC分类号： G05D1/00
摘要： A method and corresponding apparatus and computer-readable storage medium are provided for causing one or more robots to execute a mission. The method includes identifying the mission including a nominal sequence of selected tasks that are executable to cause the one or more robots to execute maneuvers to achieve a mission objective. The method includes determining a task graph in which the mission is modeled. The task graph is expressed as a directed graph and includes selected task nodes representing the selected tasks that are connected by edges representing transitions between the selected tasks. The method also includes causing the one or more robots to execute the mission using the task graph and a task library of tasks including a selected task executable to cause the one or more robots to execute a maneuver.
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公开(公告)号：US11797004B2
公开(公告)日：2023-10-24
申请号：US17148141
申请日：2021-01-13
发明人： Alfredo Giuliano , Jeffery Saunders
IPC分类号： G05D1/00
CPC分类号： G05D1/0088 , G05D1/0027 , G05B2219/32129 , G05B2219/50391
摘要： A method and corresponding apparatus and computer-readable storage medium are provided for causing one or more robots to execute a mission. The method includes identifying the mission including a nominal sequence of selected tasks that are executable to cause the one or more robots to execute maneuvers to achieve a mission objective. The method includes determining a task graph in which the mission is modeled. The task graph is expressed as a directed graph and includes selected task nodes representing the selected tasks that are connected by edges representing transitions between the selected tasks. The method also includes causing the one or more robots to execute the mission using the task graph and a task library of tasks including a selected task executable to cause the one or more robots to execute a maneuver.
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公开(公告)号：US20220357743A1
公开(公告)日：2022-11-10
申请号：US17814408
申请日：2022-07-22
发明人： Jason Ryan , Jeffery Saunders
摘要： An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list. The task execution module may be configured to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.
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