Abstract:
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, ...Show MoreMetadata
Abstract:
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Published in: IEEE Transactions on Robotics and Automation ( Volume: 12, Issue: 4, August 1996)
DOI: 10.1109/70.508439
Citations are not available for this document.
Cites in Patents (29)Patent Links Provided by 1790 Analytics
1.
Iagnemma, Karl, "Route planning for an autonomous vehicle"
Inventors:
Iagnemma, Karl
Abstract:
Among other things, a determination is made of and ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times. The route conforms to properties of stored road network information. The road feature or road segment or route is eliminated from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle. The determination is based on analysis of performance of the autonomous vehicle.
Assignee:
MOTIONAL AD LLC
Filing Date:
23 August 2019
Grant Date:
01 June 2021
Patent Classes:
Current International Class:
G01C0212600000, G01C0213400000, G08G0011600000, G07C0050800000, G05D0010200000, G06F0302000000, G01C0213600000, G06F0301500000
2.
Iagnemma, Karl, "Route planning for an autonomous vehicle"
Inventors:
Iagnemma, Karl
Abstract:
Among other things, a determination is made of and ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times. The route conforms to properties of stored road network information. The road feature or road segment or route is eliminated from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle. The determination is based on analysis of performance of the autonomous vehicle.
Assignee:
MOTIONAL AD LLC
Filing Date:
24 May 2019
Grant Date:
01 June 2021
Patent Classes:
Current International Class:
G01C0213400000, G05D0010000000, G05D0010200000, G07C0050000000, G07C0050800000, G01C0213600000, G06F0302000000, G06F0301500000
3.
Lalonde, Geoffrey; Anderson-Sprecher, Peter, "Layered multi-agent coordination"
Inventors:
Lalonde, Geoffrey; Anderson-Sprecher, Peter
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.
Assignee:
X DEVELOPMENT LLC
Filing Date:
29 July 2019
Grant Date:
23 February 2021
Patent Classes:
Current International Class:
G05B0190400000, G05B0191800000, B25J0091600000, G05D0010200000
4.
Trautman, Peter; Iba, Soshi; Lo, Shih-Yun; Yamane, Katsu; Cao, Chao, "Systems and methods for navigational planning"
Inventors:
Trautman, Peter; Iba, Soshi; Lo, Shih-Yun; Yamane, Katsu; Cao, Chao
Abstract:
Embodiments, systems, and methods for navigational planning of a mobile programmable agent are provided. In some embodiments, the navigational planning may include identifying a plurality of dynamic objects in a physical environment having an origin and a destination. The physical environment is divided into a plurality of plane figures. The location of a centroid of each plane figure can then be calculated. A network of segments is formed from the origin to the destination intersecting the centroids. At least one channel is determined from the origin to the destination using a set of segments. A set of gates is identified along the at least one channel. The state of the gates is selectively determined based on movement of the dynamic objects. A pathway can then be identified within the channel for the mobile programmable agent to traverse from the origin to the destination based on the state of the gates.
Assignee:
HONDA MOTOR CO LTD
Filing Date:
30 November 2018
Grant Date:
26 January 2021
Patent Classes:
Current International Class:
G05D0010200000, G01C0213600000, H04W0044000000, G06T0030000000
5.
Iagnemma, Karl; Ravichandran, Harshavardhan, "Identifying a stopping place for an autonomous vehicle"
Inventors:
Iagnemma, Karl; Ravichandran, Harshavardhan
Abstract:
Among other things, a planning process is associated with an autonomous vehicle. The planning process has inputs including static map data and dynamic data from sensors on the autonomous vehicle and outputs including a route to be driven through a road network to reach a goal position, a continually updated choice of a currently selected stopping place in the vicinity of the goal position, and a trajectory to be executed through a road network to reach the currently selected stopping place. A communication element communicates information about the updated choice of a currently selected stopping place to a device of a passenger, receives from the device of the passenger information about the goal position, and delivers the information to the planning process as an input.
Assignee:
MOTIONAL AD LLC
Filing Date:
20 October 2016
Grant Date:
08 December 2020
Patent Classes:
Current International Class:
B60W0300000000, G05D0010200000, G01C0213400000, G05D0010000000, G06Q0100400000
6.
Alatartsev, Sergey; Palmieri, Luigi; Arras, Kai Oliver; Koenig, Sven; Cohen, Liron, "COMPUTER-IMPLEMENTED METHOD AND APPARATUS FOR PLANNING A PATH OR TRAJECTORY OF AN AGENT"
Inventors:
Alatartsev, Sergey; Palmieri, Luigi; Arras, Kai Oliver; Koenig, Sven; Cohen, Liron
Abstract:
The invention relates to a computer-implemented method for controlling a system (1, 11) based on a trajectory wherein the trajectory is determined by means of an anytime search algorithm, which is iteratively performed, wherein after each iteration a trajectory with reduced costs is determined, the method comprising the initial steps of:- providing (S1) a start node (xstart), a goal node (xgoal) and a graph (G) indicating nodes (V) and edges (E) connecting each two nodes, and a bound indication (w, C) decreasing with each iteration;- providing (S1) a graph (G) including nodes (V) and allowable edges (E) between the nodes (V);wherein for each iteration the method includes the steps of:- creating (S3) a focal node list from a subset of nodes from the graph (G) wherein the nodes of the focal node list (FOCAL) each have a suboptimality value lower than a bound value which depends on the bound indication (w, C),- determining (S14) a path to the goal node (xgoal) through the nodes (V) of the focal node list (FOCAL) to determine the trajectory for the current iteration.
Assignee:
ROBERT BOSCH GMBH,
UNIVERSITY OF SOUTHERN CALIFORNIA,
Filing Date:
24 May 2019
Grant Date:
25 November 2020
Patent Classes:
Current International Class:
B25J0916000020, G01C2134000020, H04L1272100002
7.
Izatt, Joseph A.; Larocca, Francesco; Dubose, Theodore; Nankivil, Derek, "Compact telescope configurations for light scanning systems and methods of using the same"
Inventors:
Izatt, Joseph A.; Larocca, Francesco; Dubose, Theodore; Nankivil, Derek
Abstract:
Compact telescope configurations for light scanning systems and related methods are disclosed. According to an aspect, a system for imaging or relaying an image of an object includes a first optical element having a first focal length f(sub)1 for imaging or relaying an image of an object at the distance f(sub)1 from the first optical element. The system also includes a second optical element having a second focal length f(sub)2 for receiving an image of the object from the first optical element and for focusing an output of the image at the distance f(sub)2 from the second optical element on a side that opposes the first optical element. The first optical element and the second optical element are separated by a distance of approximately [Formula I], wherein r is the finite radius of curvature of the wavefront of light located at the object or image of the object.
Assignee:
DUKE UNIVERSITY
Filing Date:
05 February 2016
Grant Date:
17 November 2020
Patent Classes:
Current International Class:
A61B0031200000, A61B0031000000, A61B0031300000
8.
Iagnemma, Karl; Qin, Baoxing; Robbel, Philipp, "Affecting functions of a vehicle based on function-related information about its environment"
Inventors:
Iagnemma, Karl; Qin, Baoxing; Robbel, Philipp
Abstract:
Among other things, information is received that identifies or defines a function-related feature of an environment of a vehicle. Function-related information is generated that corresponds to the function-related feature.
Assignee:
NUTONOMY INC
Filing Date:
01 July 2016
Grant Date:
10 November 2020
Patent Classes:
Current International Class:
B60W0301800000, B60W0100400000, B60W0101800000, B60W0102000000, B60W0500000000
9.
van Tooren, Michael Johannes Leonardus; Gurdal, Zafer; Tarbutton, Joshua; Harik, Ramy, "Integrated robotic 3D printing system for printing of fiber reinforced parts"
Inventors:
van Tooren, Michael Johannes Leonardus; Gurdal, Zafer; Tarbutton, Joshua; Harik, Ramy
Abstract:
A system for printing a three-dimensional object is provided. The system can include at least one print head configured to receive a continuous fiber and at least partially encase the continuous fiber with a formation material to create a composite material. The at least one print bed can be configured to move in at least six different degrees of freedom. The system can also include at least one print bed comprising a printing surface onto which the composite material may be selectively applied to form a work piece. The at least one print head can be positioned relative to the at least one print bed and configured to advance print media thereon.
Assignee:
UNIVERSITY OF SOUTH CAROLINA,
TIGHITCO INC,
Filing Date:
25 August 2016
Grant Date:
27 October 2020
Patent Classes:
Current International Class:
B29C0641180000, B29C0642450000, B33Y0300000000, B33Y0500200000, B29C0641060000, B33Y0700000000, B33Y0100000000, B29C0703800000, B29K2790000000, B29K3070400000
10.
Konidaris, George D.; Sorin, Daniel J., "Specialized robot motion planning hardware and methods of making and using same"
Inventors:
Konidaris, George D.; Sorin, Daniel J.
Abstract:
Specialized robot motion planning hardware and methods of making and using same are provided. A robot-specific hardware can be designed using a tool that receives a robot description comprising a collision geometry of a robot, degrees of freedom for each joint of the robot, and joint limits of the robot; receives a scenario description; generates a probabilistic roadmap (PRM) using the robot description and the scenario description; and for each edge of PRM, produces a collision detection unit comprising a circuit indicating all parts of obstacles that collide with that edge. The hardware is implemented as parallel collision detection units that provide collision detection results used to remove edges from the PRM that is searched to find a path to a goal position.
Assignee:
DUKE UNIVERSITY
Filing Date:
05 January 2016
Grant Date:
28 July 2020
Patent Classes:
Current International Class:
B25J0091600000, G06N0070000000
11.
Wierzynski, Casimir Matthew; Behabadi, Bardia Fallah; Gibson, Sarah Paige; Aghamohammadi, Aliakbar; Agarwal, Saurav, "Autonomous visual navigation"
Inventors:
Wierzynski, Casimir Matthew; Behabadi, Bardia Fallah; Gibson, Sarah Paige; Aghamohammadi, Aliakbar; Agarwal, Saurav
Abstract:
A method of visual navigation for a robot includes integrating a depth map with localization information to generate a three-dimensional (3D) map. The method also includes motion planning based on the 3D map, the localization information, and/or a user input. The motion planning overrides the user input when a trajectory and/or a velocity, received via the user input, is predicted to cause a collision.
Assignee:
QUALCOMM INC
Filing Date:
26 August 2016
Grant Date:
07 July 2020
Patent Classes:
Current International Class:
G05D0010200000, G01C0210000000, G01C0212000000, G05D0010000000, G06K0090000000, G06T0170500000
12.
Kuo, Anthony; Izatt, Joseph; McNabb, Ryan, "Whole eye optical coherence tomography(OCT) imaging systems and related methods"
Inventors:
Kuo, Anthony; Izatt, Joseph; McNabb, Ryan
Abstract:
Whole eye optical coherence tomography (OCT) imaging systems and related methods are disclosed. According to an aspect, an OCT imaging system includes a source having an associated source arm path. Further, the OCT imaging system includes a reference arm coupled to the source arm. Further, the OCT imaging system includes a sample arm having an associated sample arm path and coupled to the source arm. The sample arm includes at least one optical component configured to simultaneously scan both an anterior and posterior portion of an eye of a subject.
Assignee:
DUKE UNIVERSITY
Filing Date:
01 May 2017
Grant Date:
30 June 2020
Patent Classes:
Current International Class:
A61B0031400000, A61B0031000000, A61B0031170000, A61B0030000000, A61B0031500000, A61B0031200000
13.
Iagnemma, Karl; Ravichandran, Harshavardhan, "Identifying a stopping place for an autonomous vehicle"
Inventors:
Iagnemma, Karl; Ravichandran, Harshavardhan
Abstract:
Among other things, stored data is maintained indicative of potential stopping places that are currently feasible stopping places for a vehicle within a region. The potential stopping places are identified as part of static map data for the region. Current signals are received from sensors or one or more other sources current signals representing perceptions of actual conditions at one or more of the potential stopping places. The stored data is updated based on changes in the perceptions of actual conditions. The updated stored data is exposed to a process that selects a stopping place for the vehicle from among the currently feasible stopping places.
Assignee:
NUTONOMY INC
Filing Date:
20 October 2016
Grant Date:
09 June 2020
Patent Classes:
Current International Class:
H04W0047000000, G08G0010100000, G08G0010968000
14.
Bortoff, Scott A; Wang, Yebin; Dai, Jin, "Motion controller for real-time continuous curvature path planning"
Inventors:
Bortoff, Scott A; Wang, Yebin; Dai, Jin
Abstract:
A system for controlling a motion of a vehicle from an initial state to a target state includes a path planner to determine a discontinuous curvature path connecting the initial state with the target state by a sequential composition of driving patterns. The discontinuous curvature path is collision-free within a tolerance envelope centered on the discontinuous curvature path. The system further includes a path transformer to locate and replace at least one treatable primitive in the discontinuous curvature path with a corresponding continuous curvature segment to form a modified path remaining within the tolerance envelope. Each treatable primitive is a predetermined pattern of elementary paths. The system further includes a controller to control the motion of the vehicle according to the modified path.
Assignee:
MITSUBISHI ELECTRIC RESEARCH LABORATORIES INC
Filing Date:
03 August 2017
Grant Date:
17 March 2020
Patent Classes:
Current International Class:
G05D0010200000, B60W0500000000, B62D0150200000, B60W0102000000, B60W0300600000, G05D0010000000, B60W0500600000
15.
Lalonde, Geoffrey; Anderson-Sprecher, Peter, "Boolean satisfiability (SAT) reduction for geometry and kinematics agnostic multi-agent planning"
Inventors:
Lalonde, Geoffrey; Anderson-Sprecher, Peter
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.
Assignee:
X DEVELOPMENT LLC
Filing Date:
21 December 2016
Grant Date:
19 November 2019
Patent Classes:
Current International Class:
G01C0212000000, G01C0213400000
16.
Iagnemma, Karl; Ravichandran, Harshavardhan; Wongpiromsarn, Tichakorn, "Identifying a stopping place for an autonomous vehicle"
Inventors:
Iagnemma, Karl; Ravichandran, Harshavardhan; Wongpiromsarn, Tichakorn
Abstract:
Among other things, a vehicle is caused to drive autonomously through a road network toward a defined goal position at which a stopped activity is to occur. A set of acceptable stopping places is identified in the vicinity of the goal position. The identifying of the set includes: identifying a proximity region in the vicinity of the goal position, identifying a goal region within the proximity region, discretizing the goal region to identify acceptable stopping places given characteristics of the vehicle and of the stopped activity analyzing current information about potential stopping places in the goal region in the vicinity of the goal position to make a choice of a currently selected stopping place that is acceptable and feasible. Current information is analyzed about the potential stopping places, to make a choice of a currently selected stopping place that is acceptable and feasible the vehicle is caused to drive autonomously toward the currently selected stopping place. The activities are repeated until the vehicle stops at a currently selected stopping place.
Assignee:
NUTONOMY INC
Filing Date:
20 October 2016
Grant Date:
12 November 2019
Patent Classes:
Current International Class:
G05D0010000000, G05D0010200000, G01C0213000000
17.
Lalonde, Geoffrey; Anderson-Sprecher, Peter, "Layered multi-agent coordination"
Inventors:
Lalonde, Geoffrey; Anderson-Sprecher, Peter
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.
Assignee:
X DEVELOPMENT LLC
Filing Date:
23 December 2016
Grant Date:
10 September 2019
Patent Classes:
Current International Class:
G05B0190400000, G05B0191800000, B25J0091600000, G05D0010200000
18.
Lalonde, Geoffrey; Anderson-Sprecher, Peter, "Multi-agent coordination under sparse networking"
Inventors:
Lalonde, Geoffrey; Anderson-Sprecher, Peter
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.
Assignee:
X DEVELOPMENT LLC
Filing Date:
23 December 2016
Grant Date:
30 July 2019
Patent Classes:
Current International Class:
G05B0194180000, B25J0090000000, B25J0091600000, G05D0010200000, G08G0011600000
19.
Iagnemma, Karl; Ravichandran, Harshavardhan; Wongpiromsarn, Tichakorn, "Identifying a stopping place for an autonomous vehicle"
Inventors:
Iagnemma, Karl; Ravichandran, Harshavardhan; Wongpiromsarn, Tichakorn
Abstract:
Among other things, a vehicle is caused to drive autonomously through a road network toward a defined goal position. Current information is analyzed about potential stopping places in the vicinity of the goal position, to make a choice of a currently selected stopping place that is acceptable and feasible. The vehicle is caused to drive autonomously toward the currently selected stopping place. The activities are repeated until the vehicle stops at a currently selected stopping place.
Assignee:
NUTONOMY INC
Filing Date:
20 October 2016
Grant Date:
25 June 2019
Patent Classes:
Current International Class:
G05D0010000000, G05D0010200000, H04W0047000000, B62D0150200000
20.
Iagnemma, Karl, "Route planning for an autonomous vehicle"
Inventors:
Iagnemma, Karl
Abstract:
Among other things, a determination is made of and ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times. The route conforms to properties of stored road network information. The road feature or road segment or route is eliminated from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle. The determination is based on analysis of performance of the autonomous vehicle.
Assignee:
NUTONOMY INC
Filing Date:
14 June 2016
Grant Date:
04 June 2019
Patent Classes:
Current International Class:
G01C0212600000, G01C0213400000, G05D0010000000, G07C0050800000, G06F0170000000, G01C0213600000, G05D0010200000, G06F0175000000
21.
Lalonde, Geoffrey; Anderson-Sprecher, Peter, "Pre-computation of kinematically feasible roadmaps"
Inventors:
Lalonde, Geoffrey; Anderson-Sprecher, Peter
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.
Assignee:
X DEVELOPMENT LLC
Filing Date:
21 December 2016
Grant Date:
21 May 2019
Patent Classes:
Current International Class:
G05D0010200000, G05D0010000000
22.
Izatt, Joseph A.; Shen, Liangbo; Carrasco-Zevallos, Oscar M.; Toth, Cynthia, "Stereoscopic display systems and methods for displaying surgical data and information in a surgical microscope"
Inventors:
Izatt, Joseph A.; Shen, Liangbo; Carrasco-Zevallos, Oscar M.; Toth, Cynthia
Abstract:
Stereoscopic display systems and methods for displaying surgical data and information in a surgical microscope are disclosed herein. According to an aspect, a system includes first and second eyepieces. The system includes a display having first and second display portions, configured to display first images in the first display portion, and configured to display second images in the second display portion. The first image and the second image are projected along a first pathway and a second pathway. The system includes a first optical element positioned to relay the first images into the first eyepiece. The system includes a second optical element positioned to relay the second images into the second eyepiece.
Assignee:
DUKE UNIVERSITY
Filing Date:
05 February 2016
Grant Date:
26 March 2019
Patent Classes:
Current International Class:
A61B0030000000, G02B0210000000, G02B0212200000, A61B0031000000, A61B0031300000, G02B0270100000, H04N0133440000, H04N0132930000, H04N0132860000
23.
Schepelmann, Alexander; Daltorio, Kathryn A.; Rolin, Amaury D.; Beno, Jonathan; Hughes, Bradley E.; Green, James M.; Branicky, Michael S.; Quinn, Roger D.; Snow, Henry H.; Merat, Francis L.; Hudson, Richard E., "Visual segmentation of lawn grass"
Inventors:
Schepelmann, Alexander; Daltorio, Kathryn A.; Rolin, Amaury D.; Beno, Jonathan; Hughes, Bradley E.; Green, James M.; Branicky, Michael S.; Quinn, Roger D.; Snow, Henry H.; Merat, Francis L.; Hudson, Richard E.
Abstract:
Disclosed is a method for identifying lawn grass which includes capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further includes weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.
Assignee:
MTD PRODUCTS INC,
CASE WESTERN RESERVE UNIVERSITY,
Filing Date:
23 May 2016
Grant Date:
18 December 2018
Patent Classes:
Current International Class:
G06K0093400000, G06K0096200000, A01D0340000000, G06K0094600000, G06T0071100000, G06T0071430000, G06T0074400000, G06T0079000000, G06T0071360000
24.
Iagnemma, Karl, "Route planning for an autonomous vehicle"
Inventors:
Iagnemma, Karl
Abstract:
Among other things, a determination is made of an ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times. Route root conforms to properties of stored road network information. The road feature or road segment or route is eliminated from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle. The determination by the computer is based on properties of the environment in which the autonomous vehicle travels.
Assignee:
NUTONOMY INC
Filing Date:
14 June 2016
Grant Date:
13 November 2018
Patent Classes:
Current International Class:
G01C0213400000, G05D0010000000
25.
Schepelmann, Alexander; Daltorio, Kathryn A.; Rolin, Amaury D.; Beno, Jonathan; Hughes, Bradley E.; Green, James M.; Branicky, Michael S.; Quinn, Roger D.; Snow, Henry H.; Merat, Francis L.; Hudson, Richard E., "Visual segmentation of lawn grass"
Inventors:
Schepelmann, Alexander; Daltorio, Kathryn A.; Rolin, Amaury D.; Beno, Jonathan; Hughes, Bradley E.; Green, James M.; Branicky, Michael S.; Quinn, Roger D.; Snow, Henry H.; Merat, Francis L.; Hudson, Richard E.
Abstract:
Disclosed is a method for identifying lawn grass which includes capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further includes weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.
Assignee:
MTD PRODUCTS INC
Filing Date:
01 July 2010
Grant Date:
20 May 2014
Patent Classes:
Current U.S. Class:
382173000, 382164000, 382168000, 382171000, 382174000, 382274000
Current International Class:
G06K0093400000
26.
Ng-Thow-Hing, Victor; Hauser, Kris; Gonzalez-Banos, Hector, "MULTI MODAL PUSH PLANNER FOR HUMANOID ROBOTS"
Inventors:
Ng-Thow-Hing, Victor; Hauser, Kris; Gonzalez-Banos, Hector
Abstract:
Multi-modal planning method and system that search a path for the most constrained mode first, and then expands the searches for path in a less constrained mode. By searching the path for the most constrained mode first, less resource are wasted on searching for paths that does not result in a feasible path in the most constrained mode. Multi-modal planning is performed by precomputing feasibility and utility of transition configurations of two adjacent modes. The feasibility is used to exclude non-feasible transition configurations in the most constrained mode from being sampled. The utility is used to bias sampling of the transition configuration so that transition configurations with higher utility are sampled with higher probability. Paths of configurations with higher utility and efficiency are obtained by biasing the sampling of the transition configurations.
Assignee:
HONDA MOTOR CO LTD
Filing Date:
05 June 2008
Grant Date:
14 February 2012
Patent Classes:
Current U.S. Class:
700245000
Current International Class:
G06F0190000
27.
Erignac, Charles A.; Drumheller, Michael, "ADAPTIVE DISTANCE FIELD CONSTRAINT FOR DESIGNING A ROUTE FOR A TRANSPORT ELEMENT"
Inventors:
Erignac, Charles A.; Drumheller, Michael
Abstract:
Improved methods for designing the route of a transport element, such as a tube, are provided. A method preferably designs the route automatically and, by utilizing constraint objects, including at least one adaptively-sampled distance field (adaptive distance field or ADF) constraint object, in the design of the route, as opposed to during a post design check, ensures that the resulting route complies with the various constraint objects, including the at least one ADF constraint object. In addition, a method may establish an overall cost function to evaluate a plurality of feasible routes of the transport element that each comply with the constraint objects, including at least one ADF constraint object, such that a preferred or optimal route may be designed.
Assignee:
THE BOEING CO
Filing Date:
28 November 2006
Grant Date:
23 February 2010
Patent Classes:
Current U.S. Class:
703001000
Current International Class:
G06F0175000
28.
Drumheller, Michael, "CONSTRAINT BASED METHOD OF DESIGNING A ROUTE FOR A TRANSPORT ELEMENT"
Inventors:
Drumheller, Michael
Abstract:
An improved method for designing the route of a transport element, such as a tube, is provided. The method preferably designs the route automatically and, by utilizing constraint objects in the design of the route, as opposed to during a post design check, ensures that the resulting route complies with the various constraint objects. In addition, the method of the present invention may establish an overall cost function to evaluate a plurality of feasible routes of the transport element that each comply with the constraint objects such that a preferred or optimal route may be designed. Constraints may be based upon the routing of the transport element in relation to another transport element, an additional constraint, or a relaxed constraint.
Assignee:
THE BOEING CO
Filing Date:
24 May 2006
Grant Date:
12 January 2010
Patent Classes:
Current U.S. Class:
703001000
Current International Class:
G06F0175000
29.
Drumheller, Michael, "CONSTRAINT BASED METHOD OF DESIGNING A ROUTE FOR A TRANSPORT ELEMENT"
Inventors:
Drumheller, Michael
Abstract:
An improved method for designing the route of a transport element, such as a tube, is provided. The method preferably designs the route automatically and, by utilizing path constraints in the design of the route, as opposed to during a post design check, ensures that the resulting route complies with the various path constraints. In addition, the method of the present invention may establish a selection criterion to evaluate a plurality of feasible routes of the transport element that each comply with the path constraints such that a preferred or optimal route may be designed.
Assignee:
THE BOEING CO
Filing Date:
29 September 2001
Grant Date:
28 October 2008
Patent Classes:
Current U.S. Class:
703001000, 029857000, 703006000, 703007000, 703008000, 703009000
Current International Class:
G06F0175000, G06G0074800, H01R0430000
