US 11,014,235 B2 · Systems and methods for semantic knowledge based dynamic utility calculation

Abstract

Parameters specific to robot, environment, target objects and their inter-relations need to be considered by a robot to estimate cost of a task. As the existing task allocation methods assume a single utility value for a robot-task pair, combining heterogeneous parameters is a challenge. In applications like search and rescue, manual intervention may not be possible in real time. For such cases, utility calculation may be a hindrance towards automation. Also, manufacturers follow their own nomenclature and units for robotic specifications. Only domain experts can identify semantically similar terms and perform necessary conversions. Systems and methods of the present disclosure provide a structured semantic knowledge model to store and describe data in a uniform machine readable format such that semantics of those data can be interpreted by the robots and utility computation can be autonomous to make task allocation autonomous, semantic enabled and capable of self-decision without human intervention.

Claims20

Dependent claims

A processor implemented method for dynamic utility calculation (200) comprising the steps of:

obtaining, by one or more hardware processors, a set of parameters for each robot-task pair to perform a task, given there are n tasks to be performed by k robots (202), wherein the set of parameters are characterized by interdependencies therebetween, with a set of sub-parameters and with the n tasks, and wherein a one-to-many mapping between the set of parameters, the set of sub-parameters and the n tasks is defined in real time in a structured semantic knowledge model;
and
dynamically computing, by the one or more hardware processors, utility uij for a robot i to perform a task j based on the set of parameters including travel time tijmotion for the robot i and actuation time tijact for the task j by the robot i, wherein the travel time tijmotion is further based on free motion time tijfree and turning time tijturn, wherein the free motion time tijfree depends on travel distance dijfree and speed of the robot vi and the turning time tijturn depends on average turning time titurn and number of turns tijturn the robot's path (204).

A system (100) comprising:

one or more data storage devices (102) operatively coupled to one or more hardware processors (104) and configured to store instructions configured for execution by the one or more hardware processors to:
obtain a set of parameters for each robot-task pair to perform a task, given there are n tasks to be performed by k robots, wherein the set of parameters are characterized by interdependencies therebetween, with a set of sub-parameters and with the n tasks, and wherein a one-to-many mapping between the set of parameters, the set of sub-parameters and the n tasks is defined in real time in a structured semantic knowledge model;
and
dynamically compute utility uij for a robot i to perform a task j based on the set of parameters including travel time tijmotion for the robot i and actuation time tijact for the task j by the robot i, wherein the travel time tijmotion is further based on free motion time tijfree and turning time tijturn, wherein the free motion time tijfree depends on travel distance dijfree and speed of the robot vi and the turning time tijturn depends on average turning time titurn and number of turns nijturn on the robot's path.

1 more element

Dependencies are inferred from the claim text.

Systems and methods for semantic knowledge based dynamic utility calculation

Life of this patent

Systems and methods for semantic knowledge based dynamic utility calculation

Life of this patent

Abstract

Claims20