公开(公告)号：US11656628B2

公开(公告)日：2023-05-23

申请号：US17021154

申请日：2020-09-15

Applicant: iRobot Corporation

Inventor： Laura V. Herlant ,  Aravindh Kuppusamy ,  Deepak Sharma ,  Kshitij Bichave ,  Shao Zhou ,  Cheuk Wah Wong

IPC: G05D1/02 ,  A47L9/00 ,  A47L9/28

CPC classification number: G05D1/0221 ,  A47L9/009 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2894 ,  G05D1/027 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0272 ,  A47L2201/04 ,  G05D2201/0215

Abstract: Described herein are systems, devices, and methods for controlling a mobile cleaning robot to escape from a stuck state using a learned robot escape behavior model. The model is trained using reinforcement learning at a cloud-computing device or networked devices. A mobile cleaning robot comprises a drive system, a sensor circuit to collect sensor data associated with a detected stuck state, and a controller circuit that can receive the trained robot escape behavior model, and apply the sensor data associated with the detected stuck state to the trained robot escape behavior model to determine an escape policy. The drive system or one or more actuators of the mobile robot can remove the mobile robot from the stuck state according to the determined escape policy.

公开(公告)号：US20220083066A1

公开(公告)日：2022-03-17

申请号：US17021154

申请日：2020-09-15

Applicant: iRobot Corporation

Inventor： Laura V. Herlant ,  Aravindh Kuppusamy ,  Deepak Sharma ,  Kshitij Bichave ,  Shao Zhou ,  Cheuk Wah Wong

IPC: G05D1/02 ,  A47L9/00 ,  A47L9/28

Abstract: Described herein are systems, devices, and methods for controlling a mobile cleaning robot to escape from a stuck state using a learned robot escape behavior model. The model is trained using reinforcement learning at a cloud-computing device or networked devices. A mobile cleaning robot comprises a drive system, a sensor circuit to collect sensor data associated with a detected stuck state, and a controller circuit that can receive the trained robot escape behavior model, and apply the sensor data associated with the detected stuck state to the trained robot escape behavior model to determine an escape policy. The drive system or one or more actuators of the mobile robot can remove the mobile robot from the stuck state according to the determined escape policy.