公开(公告)号：US09798327B2

公开(公告)日：2017-10-24

申请号：US14990840

申请日：2016-01-08

Applicant: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS

Inventor： Anas Mohammed Albaghajati ,  Mohammad Tariq Nasir ,  Lahouari Ghouti ,  Sami El Ferik

IPC: G06F19/00 ,  G05D1/02 ,  H04N5/225 ,  H04B7/185 ,  H04W4/02 ,  G06T11/20 ,  G01V1/16

CPC classification number: G05D1/0214 ,  G01V1/003 ,  G01V1/166 ,  G01V1/168 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207 ,  G06T11/206 ,  H04B7/18523 ,  H04N5/225 ,  H04W4/02

Abstract: Described herein a robot assisted method of deploying sensors in a geographic region. The method of deploying sensors is posed as a Markovian decision process. The robot assigns each grid cell in a map of the geographic region a reward value based on a surface elevation of the geographic region and a soil hardness factor. Further, the robot determines an action for each grid cell of the plurality of grid cells, wherein the action corresponds to an expected direction of movement of the robot in the grid cell. The robot computes a global path as a concatenation of actions starting from a first grid cell and terminating at a second grid cell. The method monitors the movement of the robot on the computed global path and computes a second path based on a deviation of the robot from the global path.

公开(公告)号：US09891626B2

公开(公告)日：2018-02-13

申请号：US15696715

申请日：2017-09-06

Applicant: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS

Inventor： Anas Mohammed Albaghajati ,  Mohammad Tariq Nasir ,  Lahouari Ghouti ,  Sami El Ferik

IPC: G01C22/00 ,  G05D1/00 ,  G06F19/00 ,  G05D1/02 ,  H04W4/02 ,  H04B7/185 ,  H04N5/225 ,  G06T11/20 ,  G01V1/16

CPC classification number: G05D1/0214 ,  G01V1/003 ,  G01V1/166 ,  G01V1/168 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207 ,  G06T11/206 ,  H04B7/18523 ,  H04N5/225 ,  H04W4/02

Abstract: Described herein a robot assisted method of deploying sensors in a geographic region. The method of deploying sensors is posed as a Markovian decision process. The robot assigns each grid cell in a map of the geographic region a reward value based on a surface elevation of the geographic region and a soil hardness factor. Further, the robot determines an action for each grid cell of the plurality of grid cells, wherein the action corresponds to an expected direction of movement of the robot in the grid cell. The robot computes a global path as a concatenation of actions starting from a first grid cell and terminating at a second grid cell. The method monitors the movement of the robot on the computed global path and computes a second path based on a deviation of the robot from the global path.

公开(公告)号：US20170364081A1

公开(公告)日：2017-12-21

申请号：US15696715

申请日：2017-09-06

Applicant: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS

Inventor： Anas Mohammed Albaghajati ,  Mohammad Tariq Nasir ,  Lahouari Ghouti ,  Sami El Ferik

IPC: G05D1/02 ,  H04B7/185 ,  G06T11/20 ,  H04W4/02 ,  H04N5/225 ,  G01V1/16

CPC classification number: G05D1/0214 ,  G01V1/003 ,  G01V1/166 ,  G01V1/168 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207 ,  G06T11/206 ,  H04B7/18523 ,  H04N5/225 ,  H04W4/02

Abstract: Described herein a robot assisted method of deploying sensors in a geographic region. The method of deploying sensors is posed as a Markovian decision process. The robot assigns each grid cell in a map of the geographic region a reward value based on a surface elevation of the geographic region and a soil hardness factor. Further, the robot determines an action for each grid cell of the plurality of grid cells, wherein the action corresponds to an expected direction of movement of the robot in the grid cell. The robot computes a global path as a concatenation of actions starting from a first grid cell and terminating at a second grid cell. The method monitors the movement of the robot on the computed global path and computes a second path based on a deviation of the robot from the global path.