SIMULTANEOUS MAPPING AND PLANNING BY A ROBOT

A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calcul...

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Bibliographic Details
Main Authors AGHAMOHAMMADI, Aliakbar, REITMAYR, Gerhard, WIERZYNSKI, Casimir Matthew, DIAZ SPINDOLA, Serafin, BEHABADI, Bardia Fallah, SOMASUNDARAM, Kiran, LOTT, Christopher, AGARWAL, Saurav, GIBSON, Sarah Paige, OMIDSHAFIEI, Shayegan
Format Patent
LanguageEnglish
French
German
Published 06.04.2022
Subjects
CONTROLLING
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
REGULATING
SURVEYING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TESTING
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Summary:A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.
Bibliography:Application Number: EP20160816014