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

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G05D1/02

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.

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

IPC: G01C21/20 ,  B25J9/16

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.

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

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G05D1/02

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.

公开(公告)号：US10296012B2

公开(公告)日：2019-05-21

申请号：US15387446

申请日：2016-12-21

Applicant: X Development LLC

Inventor： Geoffrey Lalonde ,  Peter Anderson-Sprecher

IPC: G05D1/02 ,  G05D1/00

Abstract: A computing device can determine a roadmap having a path for a robotic device in an environment associated with starting and ending poses. The computing device can generate a plurality of trajectories from the starting pose, where each trajectory can include a steering position and a traction velocity directing the robotic device during a planning time interval. For each trajectory of the plurality of trajectories, the computing device can determine a score for the trajectory indicative of advancement from the starting pose toward the ending pose after simulating the steering position and the traction velocity for the planning time interval. The computing device can select, and then store, a nominal trajectory from among the scored plurality of trajectories. The computing device can receive a first request to provide a route though the environment and can send a first response that includes the stored nominal trajectory.

公开(公告)号：US10107632B2

公开(公告)日：2018-10-23

申请号：US15939635

申请日：2018-03-29

Applicant: X Development LLC

Inventor： Geoffrey Lalonde ,  Peter Anderson-Sprecher

IPC: G01C21/30 ,  G06F17/30

Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can receive a roadmap. The roadmap can include an intersection between first and second edges. The computing device can determine a transition curve between the first and second edges and includes first, second, and third curve segments. The first and second curve segments can connect at a first curve junction point. The second and third curve segments can connect at a second curve junction point. The first and third curve segments each include a segment of an Euler spiral and the second curve segment can be a circular curve segment having a fixed radius. The computing device can update the roadmap by replacing the intersection between the first and second edges with the transition curve. The computing device can provide the updated roadmap.

公开(公告)号：US09964411B2

公开(公告)日：2018-05-08

申请号：US15730422

申请日：2017-10-11

Applicant: X Development LLC

Inventor： Geoffrey Lalonde ,  Peter Anderson-Sprecher

IPC: G01C21/00 ,  G01C21/30 ,  G06F17/30

CPC classification number: G01C21/30 ,  B62D15/02 ,  G05D1/0274 ,  G05D2201/0216 ,  G06F17/30241 ,  G06T11/60 ,  Y10S901/01

Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can receive a roadmap. The roadmap can include an intersection between first and second edges. The computing device can determine a transition curve between the first and second edges and includes first, second, and third curve segments. The first and second curve segments can connect at a first curve junction point. The second and third curve segments can connect at a second curve junction point. The first and third curve segments each include a segment of an Euler spiral and the second curve segment can be a circular curve segment having a fixed radius. The computing device can update the roadmap by replacing the intersection between the first and second edges with the transition curve. The computing device can provide the updated roadmap.

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

IPC: G01C21/20 ,  G01C21/34

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.

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.

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

IPC: B25J9/16 ,  G05D1/02

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.

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

IPC: B25J9/00 ,  B25J9/16 ,  G05D1/02

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.