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    System and Method for Behavior Based Control of an Autonomous Vehicle
    2.
    发明申请
    System and Method for Behavior Based Control of an Autonomous Vehicle 审中-公开
    自主车辆行为控制系统与方法

    公开(公告)号：US20160187885A1

    公开(公告)日：2016-06-30

    申请号：US14797709

    申请日：2015-07-13

    Applicant: IROBOT CORPORATION

    Inventor： Robert Todd Pack ,  James Allard ,  David S. Barrett ,  Misha Filippov ,  Selma Svendsen

    IPC: G05D1/02 ,  G05D1/00

    CPC classification number: G05D1/0088 ,  G05D1/0011 ,  G05D1/0061 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G06N3/008

    Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.

    Abstract translation: 自主车辆基于行为控制的系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节流杆，舵机，系杆，节气门，制动器，加速器或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 这些行为包括以优先级排列的行动集，行动集包括车辆完成任务所采取的替代行动。 替代动作按优先级排序，并且仲裁者选择要执行的动作，并且可选地修改。

    SYSTEM AND METHOD FOR BEHAVIOR BASED CONTROL OF AN AUTONOMOUS VEHICLE
    3.
    发明申请
    SYSTEM AND METHOD FOR BEHAVIOR BASED CONTROL OF AN AUTONOMOUS VEHICLE 审中-公开

    公开(公告)号：US20190033866A1

    公开(公告)日：2019-01-31

    申请号：US16148626

    申请日：2018-10-01

    Applicant: IROBOT CORPORATION

    Inventor： Robert Todd Pack ,  James Allard ,  David S. Barrett ,  Misha Filippop ,  Selma Svendsen

    IPC: G05D1/00 ,  G06N3/00 ,  G05D1/02

    Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.

    Remote Vehicle Missions and Systems for Supporting Remote Vehicle Missions
    4.
    发明申请
    Remote Vehicle Missions and Systems for Supporting Remote Vehicle Missions 审中-公开
    用于支持远程车辆任务的远程车辆任务和系统

    公开(公告)号：US20150197007A1

    公开(公告)日：2015-07-16

    申请号：US14665543

    申请日：2015-03-23

    Applicant: iRobot Corporation

    Inventor： Robert Todd Pack ,  Daniel P. Allis ,  Marshall J. Vale

    IPC: B25J9/16 ,  G05D1/00

    CPC classification number: G05D1/0038 ,  B25J9/161 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209 ,  Y10S901/01

    Abstract: An operator control unit includes a user interface that allows a user to control a remote vehicle, a transmission unit configured to transmit data to the remote vehicle, and a receiver unit configured to receive data from the remote vehicle. The data received from the remote vehicle includes image data captured by the remote vehicle. The operator control unit includes a display unit configured to display the user interface including the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements.

    Abstract translation: 操作员控制单元包括允许用户控制远程车辆的用户界面，被配置为向远程车辆发送数据的发送单元和被配置为从远程车辆接收数据的接收器单元。 从远程车辆接收的数据包括由远程车辆捕获的图像数据。 操作员控制单元包括：显示单元，被配置为显示包括从远程车辆接收的图像数据的用户界面和表示远程车辆的多个可控元件的图标，并且被配置为允许用户输入控制命令以在 多个可控元件中的至少一个。

    Mobile Robot
    5.
    发明申请
    Mobile Robot 审中-公开
    移动机器人

    公开(公告)号：US20150120057A1

    公开(公告)日：2015-04-30

    申请号：US14586341

    申请日：2014-12-30

    Applicant: iRobot Corporation

    Inventor： Cheuk Wah Wong ,  Eben Rauhut ,  Brian C. Benson, JR. ,  Peter J. Lydon ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Timothy S. Farlow ,  Jasper Fourways Vicenti

    IPC: B25J9/16 ,  G05D1/02

    CPC classification number: B25J9/1697 ,  B25J9/1694 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46 ,  Y10S901/47

    Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.

    Abstract translation: 一种包括机器人主体，支撑机器人主体的驱动系统和与驱动系统通信的控制器的移动机器人。 机器人还包括致动器，其将机器人主体的一部分移动通过与移动机器人相邻的空间的容积以及与控制器通信的传感器盒。 传感器盒包括可旋转地支撑并具有至少部分地作为围绕垂直轴线的旋转表面形成的弯曲壁的轴环。 传感器盒还包括容纳点云传感器，其由轴环容纳并且沿着延伸穿过弯曲壁的观察轴线从轴环内观察邻近机器人的空间的体积。 套环执行器将套环和体积点云传感器围绕套环轴线旋转。

    Digest for Localization or Fingerprinted Overlay
    6.
    发明申请
    Digest for Localization or Fingerprinted Overlay 有权
    摘要本地化或指纹叠加

    公开(公告)号：US20130138337A1

    公开(公告)日：2013-05-30

    申请号：US13688933

    申请日：2012-11-29

    Applicant: iRobot Corporation

    Inventor： Robert Todd Pack

    IPC: G01C21/00

    CPC classification number: G01C21/00 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0209

    Abstract: A method for mapping an environment proximal to a vehicle includes obtaining a current location of the vehicle according to a map of the environment, detecting at least one characteristic of the environment at the current location, and storing the at least one characteristic in a characteristic digest. The characteristic digest respectively associates one or more locations in the environment to one or more sets of previously detected characteristics in the environment. The method also includes associating the at least one characteristic with the current location in the characteristic digest.

    Abstract translation: 用于映射邻近车辆的环境的方法包括根据环境图获得车辆的当前位置，检测当前位置处的环境的至少一个特征，以及将该至少一个特征存储在特征摘要中 。 特征摘要分别将环境中的一个或多个位置与环境中的一组或多组先前检测到的特征相关联。 该方法还包括将该至少一个特征与特征摘要中的当前位置相关联。

    Advanced Behavior Engine
    9.
    发明申请
    Advanced Behavior Engine 有权
    高级行为引擎

    公开(公告)号：US20140081506A1

    公开(公告)日：2014-03-20

    申请号：US14036451

    申请日：2013-09-25

    Applicant: iRobot Corporation

    Inventor： Robert Todd Pack ,  Orjeta Taka

    IPC: B25J9/16

    CPC classification number: B25J9/1664 ,  G05B2219/40519 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0209 ,  G05D2201/0213 ,  G06N3/008

    Abstract: A method of commanding a remote vehicle includes executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action. The method also includes determining servo commands corresponding to the best feasible action for one or more actuators of a drive system or a manipulation system of the remote vehicle and commanding the one or more actuators of the remote vehicle based on the servo commands. The best feasible action includes actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected.

    Abstract translation: 一种命令远程车辆的方法包括基于动力学固定深度运动规划算法在远程车辆的控制器上执行命令，以使用来自评估者的增量反馈来选择最佳可行动作。 该方法还包括确定对应于远程车辆的驱动系统或操纵系统的一个或多个致动器的最佳可行动作的伺服命令，并基于伺服命令来命令远程车辆的一个或多个致动器。 最佳可行动作包括在每次选择可行动作时，从当前时间几秒钟的固定时间范围内的动作。

    Remote vehicle control system and method
    10.
    发明授权
    Remote vehicle control system and method 有权

    公开(公告)号：US09658615B2

    公开(公告)日：2017-05-23

    申请号：US14587396

    申请日：2014-12-31

    Applicant: iRobot Corporation

    Inventor： Robert Todd Pack ,  Daniel P. Allis

    IPC: G05D1/00 ,  G01C21/26

    CPC classification number: G05D1/0011 ,  G01C21/26 ,  G05D1/0038 ,  G05D2201/0209

    Abstract: A system includes an operator control unit having a point-and-click interface configured to allow the operator to control the remote vehicle by inputting one or more commands via the point-and-click interface. The operator control unit displays a 3D local perceptual space comprising an egocentric coordinate system encompassing a predetermined distance centered on the remote vehicle, a remote vehicle representation having selectable portions, and an icon at a point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle. The system also includes a payload attached to the remote vehicle. The payload includes a computational module and an integrated sensor suite including a global positioning system, an inertial measurement unit, and a stereo vision camera.

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