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1.发明授权公开(公告)号：US10480947B2
公开(公告)日：2019-11-19
申请号：US15387503
申请日：2016-12-21
Applicant: X Development LLC
Inventor： Geoffrey Lalonde , Peter Anderson-Sprecher
Abstract: Systems and methods related to roadmaps for robotic devices are provided. A computing device can receive a roadmap representing a plurality of paths through an environment. The computing device can discretize the roadmap to obtain a discrete planning graph having a plurality of states corresponding to discretized segments of the plurality of paths of the roadmap such that states corresponding to adjacent discretized path segments are connected in the discrete planning graph. The computing device can determine a Boolean equation representing at least a portion of the discrete planning graph. The computing device can determine a sequence of states from the plurality of states of the discrete planning graph such that the determined sequence of states satisfies the Boolean equation. The computing device can provide a route through the environment for a robotic device based on the determined sequence of states.
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公开(公告)号：US10363657B2
公开(公告)日：2019-07-30
申请号：US15390013
申请日：2016-12-23
Applicant: X DEVELOPMENT LLC
Inventor： Geoffrey Lalonde , Peter Anderson-Sprecher
IPC: G05B19/418 , B25J9/00 , B25J9/16 , G05D1/02 , G08G1/16
Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.
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公开(公告)号：US20180178382A1
公开(公告)日：2018-06-28
申请号：US15390006
申请日：2016-12-23
Applicant: X DEVELOPMENT LLC
Inventor： Geoffrey Lalonde , Peter Anderson-Sprecher
CPC classification number: B25J9/1666 , G05D1/0297 , G05D2201/0216 , Y10S901/01
Abstract: A method includes receiving first and second coordinated paths for first and second robotic devices. The first coordinated path comprises a dependency edge indicating a first position on the first coordinated path and a second position on the second coordinated path. The method also includes determining a first traversable portion extending to a first stopping position before or at the first position on the first coordinated path. The method also includes providing a first instruction to the first robotic device to traverse the first traversable portion; subsequently determining that the second robotic device has passed the second position on the second coordinated path; determining a second traversable portion of the first coordinated path extending to a second stopping position beyond the first position on the first coordinated path; and providing a second instruction to the first robotic device to traverse the second traversable portion.
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公开(公告)号：US20180178376A1
公开(公告)日：2018-06-28
申请号：US15390013
申请日：2016-12-23
Applicant: X DEVELOPMENT LLC
Inventor： Geoffrey Lalonde , Peter Anderson-Sprecher
CPC classification number: B25J9/0084 , B25J9/1651 , B25J9/1666 , B25J9/1676 , G05D1/0214 , G05D1/0223 , G05D1/024 , G05D1/0289 , G05D2201/0206 , G05D2201/0216 , G08G1/163 , Y10S901/01
Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.
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公开(公告)号：US10994418B2
公开(公告)日：2021-05-04
申请号：US15839854
申请日：2017-12-13
Applicant: X Development LLC
Inventor： Tatiana Kichkaylo , Geoffrey Lalonde
IPC: B25J9/16 , G05D1/02 , B65G1/137 , G06Q10/08 , B66F9/075 , B66F9/24 , G06Q50/28 , B66F9/06 , B25J13/00
Abstract: Systems and methods related to roadmaps for mobile robots are provided. A computing device can determine a roadmap of an environment. The roadmap can include lanes and a designated region that is adjacent to a first lane of the plurality of lanes and suitable for robotic traversal when unoccupied. The computing device can determine a first route between first and second points in the environment that uses the first lane. The computing device can send a direction to use the first route to a first robot. The computing device can receive, from the first robot, sensor data indicative of an occupied status of the designated region. The computing device can determine a second route between the first and second points through the designated region based on the occupied status of the designated region. The computing device can send a direction to use the second route to a second robot.
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Patent Agency Ranking
公开(公告)号：US10926410B2
公开(公告)日：2021-02-23
申请号：US16524827
申请日：2019-07-29
Applicant: X DEVELOPMENT LLC
Inventor： Geoffrey Lalonde , Peter Anderson-Sprecher
Abstract: A method includes receiving first and second coordinated paths for first and second robotic devices. The first coordinated path comprises a dependency edge indicating a first position on the first coordinated path and a second position on the second coordinated path. The method also includes determining a first traversable portion extending to a first stopping position before or at the first position on the first coordinated path. The method also includes providing a first instruction to the first robotic device to traverse the first traversable portion; subsequently determining that the second robotic device has passed the second position on the second coordinated path; determining a second traversable portion of the first coordinated path extending to a second stopping position beyond the first position on the first coordinated path; and providing a second instruction to the first robotic device to traverse the second traversable portion.
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公开(公告)号：US20190291267A1
公开(公告)日：2019-09-26
申请号：US16441600
申请日：2019-06-14
Applicant: X DEVELOPMENT LLC
Inventor： Geoffrey Lalonde , Peter Elving Anderson-Sprecher
Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.
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公开(公告)号：US20180321675A1
公开(公告)日：2018-11-08
申请号：US16025231
申请日：2018-07-02
Applicant: X Development LLC
Inventor： Jared Russell , Geoffrey Lalonde
CPC classification number: G05D1/0027 , B65G1/0492 , G01C21/26 , G05D1/0212 , G05D1/0289 , G05D2201/0216 , G08G1/166 , G08G1/207
Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can determine a roadmap that includes a first intersection associated with first and second edges. The computing device can determine an edge interaction region (EIR) surrounding the first intersection that includes portions of the first and second edges, where a traversal region on the first edge portion can overlap a traversal region on the second edge portion. The computing device can determine first and second sub-edges of the first edge; the first sub-edge within the EIR and the second sub-edge outside the EIR. The computing device can receive a request to determine a route, determine the route specifying travel along the first sub-edge with a first rule set and along the second sub-edge with a second rule set, and provide the route.
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9.发明申请公开(公告)号：US20180172450A1
公开(公告)日：2018-06-21
申请号：US15387503
申请日：2016-12-21
Applicant: X Development LLC
Inventor： Geoffrey Lalonde , Peter Anderson-Sprecher
CPC classification number: G01C21/206 , G01C21/3407 , G01C21/3453 , Y10S901/01
Abstract: Systems and methods related to roadmaps for robotic devices are provided. A computing device can receive a roadmap representing a plurality of paths through an environment. The computing device can discretize the roadmap to obtain a discrete planning graph having a plurality of states corresponding to discretized segments of the plurality of paths of the roadmap such that states corresponding to adjacent discretized path segments are connected in the discrete planning graph. The computing device can determine a Boolean equation representing at least a portion of the discrete planning graph. The computing device can determine a sequence of states from the plurality of states of the discrete planning graph such that the determined sequence of states satisfies the Boolean equation. The computing device can provide a route through the environment for a robotic device based on the determined sequence of states.
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公开(公告)号：US10406687B2
公开(公告)日：2019-09-10
申请号：US15390006
申请日：2016-12-23
Applicant: X DEVELOPMENT LLC
Inventor： Geoffrey Lalonde , Peter Anderson-Sprecher
Abstract: A method includes receiving first and second coordinated paths for first and second robotic devices. The first coordinated path comprises a dependency edge indicating a first position on the first coordinated path and a second position on the second coordinated path. The method also includes determining a first traversable portion extending to a first stopping position before or at the first position on the first coordinated path. The method also includes providing a first instruction to the first robotic device to traverse the first traversable portion; subsequently determining that the second robotic device has passed the second position on the second coordinated path; determining a second traversable portion of the first coordinated path extending to a second stopping position beyond the first position on the first coordinated path; and providing a second instruction to the first robotic device to traverse the second traversable portion.
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