Roadmap segmentation for robotic device coordination

A method, comprising:

• determining, for a roadmap comprising a plurality of edges, a plurality of edge interaction regions and a plurality of edge non-interaction regions, wherein the plurality of edge interaction regions comprise regions in which traversal regions of two robotic devices on respective edges of the plurality of edges overlap, and wherein the plurality of edge non-interaction regions comprises regions in which traversal regions of two robotic devices on respective edges of the plurality of edges do not interact;
• determining, for each of the plurality of edge interaction regions, a state comprising one of:
• an available state, an unavailable state, or a deactivating state;
• determining, for a robotic device, a route along one or more edges from the plurality of edges of the roadmap, wherein the robotic device is associated with a convoy of mobile robotic devices;
• and
• providing instructions to cause the robotic device to:
• navigate along the route,
• use at least one sensor on the robotic device to follow a preceding robotic device in the convoy of mobile robotic devices along the route when the robotic device is in an edge non-interaction region,
• stop before reaching an edge interaction region if the state of the edge interaction region comprises the deactivating state and if robotic devices in the convoy are absent from the edge interaction region;
• and
• proceed to enter the edge interaction region if the state of the edge interaction comprises the deactivating state and if one or more robotic devices of the convoy are present in the edge interaction region.

A computing device, comprising:

• one or more processors;
• and
• data storage including at least computer-executable instructions stored thereon that, when executed by the one or more processors, cause the computing device to perform functions comprising:
• determining, for a roadmap comprising a plurality of edges, a plurality of edge interaction regions and a plurality of edge non-interaction regions, wherein the plurality of edge interaction regions comprise regions in which traversal regions of two robotic devices on respective edges of the plurality of edges overlap, and wherein the plurality of edge non-interaction regions comprises regions in which traversal regions of two robotic devices on respective edges of the plurality of edges do not interact;
• determining, for a robotic device, a route along one or more edges from the plurality of edges of the roadmap;
• and
• providing instructions to cause the robotic device to use at least one sensor on the robotic device to follow a preceding robotic device along the route when the robotic device is in an edge non-interaction region, wherein the instructions cause the robotic device to request permission before entering an edge interaction region, and wherein the instructions cause the robotic device to navigate along the route without transmitting location information of the robotic device to a controller external to the robotic device.

A non-transitory computer readable medium having stored thereon instructions, that when executed by one or more processors of a computing device, cause the computing device to perform functions comprising:

• determining, for a roadmap comprising a plurality of edges, a plurality of edge interaction regions and a plurality of edge non-interaction regions, wherein the plurality of edge interaction regions comprise regions in which traversal regions of two robotic devices on respective edges of the plurality of edges overlap, and wherein the plurality of edge non-interaction regions comprises regions in which traversal regions of two robotic devices on respective edges of the plurality of edges do not interact;
• determining, for a robotic device, a route along one or more edges from the plurality of edges of the roadmap;
• and
• providing instructions to cause the robotic device to use at least one sensor on the robotic device to follow a preceding robotic device along the route when the robotic device is in an edge non-interaction region, wherein the instructions cause the robotic device to request permission before entering an edge interaction region, and wherein the instructions cause the robotic device to navigate along the route without transmitting location information of the robotic device to a controller external to the robotic device.

A method, comprising:

• determining, for a roadmap comprising a plurality of edges, a plurality of edge interaction regions and a plurality of edge non-interaction regions, wherein the plurality of edge interaction regions comprise regions in which traversal regions of two robotic devices on respective edges of the plurality of edges overlap, and wherein the plurality of edge non-interaction regions comprises regions in which traversal regions of two robotic devices on respective edges of the plurality of edges do not interact;
• determining, for a robotic device, a route along one or more edges from the plurality of edges of the roadmap;
• and
• providing instructions to cause the robotic device to navigate along the route, wherein the instructions cause the robotic device to use at least one sensor on the robotic device to follow a preceding robotic device along the route when the robotic device is in an edge non-interaction region, wherein using at least one sensor on the robotic device to follow a preceding robotic device along the route comprises using only the at least one sensor on the robotic device to follow the preceding robotic device along the route, and wherein the instructions cause the robotic device to request permission before entering an edge interaction region.