公开(公告)号：US10369696B1

公开(公告)日：2019-08-06

申请号：US15641882

申请日：2017-07-05

Applicant: X Development LLC

Inventor： Jared Russell ,  Julian Mac Neille Mason ,  Kurt Mauro Dresner

IPC: B25J9/16

Abstract: Methods, apparatus, systems, and computer-readable media are provided for spatiotemporal reservations for robots. In various implementations, a sequence of spatial regions of an environment, and a sequence of respective time intervals that are reserved for a robot to operate within the sequence of spatial regions, may be reserved for the robot. A default path through the sequence of spatial regions may be identified. During traversal of the default path, it may be determined that the default path will be unpassable by the robot through a given spatial region during a given time interval reserved for the robot to operate within the given spatial region. Thus, an alternative path through the given spatial region that is traversable by the robot during the given time interval may be identified. The robot may then be traversed along the alternative path through the given spatial region within the given time interval.

公开(公告)号：US09744668B1

公开(公告)日：2017-08-29

申请号：US14832656

申请日：2015-08-21

Applicant: X Development LLC

Inventor： Jared Russell ,  Julian Mac Neille Mason ,  Kurt Mauro Dresner

IPC: G05D1/00 ,  B25J9/16

CPC classification number: G05D1/0289 ,  Y10S901/01 ,  Y10S901/09

Abstract: Methods, apparatus, systems, and computer-readable media are provided for spatiotemporal reservations for robots. In various implementations, a sequence of spatial regions of an environment, and a sequence of respective time intervals that are reserved for a robot to operate within the sequence of spatial regions, may be reserved for the robot. A default path through the sequence of spatial regions may be identified. During traversal of the default path, it may be determined that the default path will be unpassable by the robot through a given spatial region during a given time interval reserved for the robot to operate within the given spatial region. Thus, an alternative path through the given spatial region that is traversable by the robot during the given time interval may be identified. The robot may then be traversed along the alternative path through the given spatial region within the given time interval.