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公开(公告)号：US11745346B2
公开(公告)日：2023-09-05
申请号：US17532648
申请日：2021-11-22
CPC分类号： B25J9/1666 , B25J9/1671 , G05D1/0214 , G05B2219/40448
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
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公开(公告)号：US11235465B2
公开(公告)日：2022-02-01
申请号：US16268290
申请日：2019-02-05
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
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3.发明授权公开(公告)号：US11964393B2
公开(公告)日：2024-04-23
申请号：US18221029
申请日：2023-07-12
发明人： Daniel Sorin , George Konidaris , Sean Murray , William Floyd-Jones , Peter Howard , Xianchao Long
CPC分类号： B25J9/1666 , B25J9/0093 , B25J9/161 , B25J9/1697 , B25J13/088 , B25J15/0019 , B25J15/04 , B25J17/02
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.
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4.发明公开公开(公告)号：US20230347519A1
公开(公告)日：2023-11-02
申请号：US18221027
申请日：2023-07-12
发明人： Daniel Sorin , George Konidaris , Sean Murray , William Floyd-Jones , Peter Howard , Xianchao Long
CPC分类号： B25J9/1666 , B25J9/0093 , B25J9/161 , B25J9/1697 , B25J13/088 , B25J15/0019 , B25J15/04 , B25J17/02
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.
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5.发明公开公开(公告)号：US20230356400A1
公开(公告)日：2023-11-09
申请号：US18222801
申请日：2023-07-17
CPC分类号： B25J9/1666 , B25J9/1671 , G05D1/0214 , G05B2219/40448
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
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6.发明公开公开(公告)号：US20230347520A1
公开(公告)日：2023-11-02
申请号：US18221029
申请日：2023-07-12
发明人： Daniel Sorin , George Konidaris , Sean Murray , William Floyd-Jones , Peter Howard , Xianchao Long
CPC分类号： B25J9/1666 , B25J9/0093 , B25J9/161 , B25J9/1697 , B25J13/088 , B25J15/0019 , B25J15/04 , B25J17/02
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.
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公开(公告)号：US20230286156A1
公开(公告)日：2023-09-14
申请号：US18119381
申请日：2023-03-09
发明人： Sean Murray , Peter Englert , Xianchao Long , Arne Sieverling , Ty Tremblay
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1682
摘要： The structures and algorithms described herein employ staging poses to facilitate the operation robots operating in a shared workspace or workcell, preventing or at least reducing the risk of collision while efficiently moving robots to one or more goals to perform respective tasks. Motion planning can be performed during runtime, and includes identifying one or more staging poses for a robot to advantageously position or configure a robot whose path is blocked or is expected to be blocked by one or more other robots, monitoring the other robots and moving the robot toward a goal in response to the path becoming unblocked or cleared. The staging pose can be identified using various heuristics to efficiently position or configure the robot to complete its task one its path becomes unblocked or cleared.
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公开(公告)号：US11623346B2
公开(公告)日：2023-04-11
申请号：US17153662
申请日：2021-01-20
发明人： Luca Colasanto , Sean Murray
摘要： Solutions for multi-robot configurations are co-optimized, to at least some degree, across a set of non-homogenous parameters based on a given set of tasks to be performed by robots in a multi-robot operational environment. Non-homogenous parameters may include two or more of: the respective base position and orientation of the robots, an allocation of tasks to respective robots, respective target sequences and/or trajectories for the robots. Such may be executed pre-runtime. Output may include for each robot: workcell layout, an ordered list or vector of targets, optionally dwell time durations at respective targets, and paths or trajectories between each pair of consecutive targets. Output may provide a complete, executable, solution to the problem, which in the absence of variability in timing, can be used to control the robots without any modification. A genetic algorithm, e.g., Differential Evolution, may optionally be used in generating a population of candidate solutions.
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公开(公告)号：US12090668B2
公开(公告)日：2024-09-17
申请号：US18222801
申请日：2023-07-17
CPC分类号： B25J9/1666 , B25J9/1671 , G05D1/0214 , G05B2219/40448
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
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10.发明授权公开(公告)号：US12083682B2
公开(公告)日：2024-09-10
申请号：US18221027
申请日：2023-07-12
发明人： Daniel Sorin , George Konidaris , Sean Murray , William Floyd-Jones , Peter Howard , Xianchao Long
CPC分类号： B25J9/1666 , B25J9/0093 , B25J9/161 , B25J9/1697 , B25J13/088 , B25J15/0019 , B25J15/04 , B25J17/02
摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.
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