Construction constrained motion primitives from robot maps

A method comprising:

• receiving, at data processing hardware, a navigation request requesting a robot to navigate from a current location in a robot environment to a target destination in the robot environment;
• determining, by the data processing hardware, a route specification for navigating the robot from the current location to the target destination within the robot environment, the route specification comprising a series of waypoints and corresponding edges each interconnecting a respective pair of the series of waypoints, wherein determining the route specification includes selecting the series of waypoints and corresponding edges from a plurality of waypoints and a plurality of edges included in a map of the environment;
• for each waypoint in the series of waypoints in the route specification, generating, by the data processing hardware, a goal region encompassing the corresponding waypoint in the route specification;
• generating, by the data processing hardware, at least one constraint region encompassing at least one goal region, the at least one constraint region establishing boundaries for the robot to remain within while traversing toward the target destination;
• adjusting, by the data processing hardware, an amount of margin distance between the robot and an obstacle based on a size of the at least one constraint region;
• and
• navigating, by the data processing hardware, the robot from the current location to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.

A system comprising:

• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to:
• receive from at least one sensor in communication with the data processing hardware, sensor data of an environment about a robot while the robot traverses through the environment;
• generate using the sensor data received while the robot traverses through the environment, a map including a plurality of waypoints and a plurality of edges, each edge connecting a respective pair of the plurality of waypoints;
• and
• after generating the map:
• receive a target destination within the environment for the robot to navigate to;
• determine a route specification including a series of waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination, wherein determining the route specification includes selecting the series of waypoints and corresponding edges from the plurality of waypoints and the plurality of edges of the map;
• for each waypoint in the series of waypoints, generating a goal region encompassing the corresponding waypoint in the route specification;
• generating at least one constraint region encompassing at least one goal region, the at least one constraint region establishing boundaries for the robot to remain within while traversing toward the target destination;
• adjusting an amount of margin distance between the robot and an obstacle based on a size of the at least one constraint region;
• and
• navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.

A method comprising:

• receiving a navigation request requesting a robot to navigate from a current location in a robot environment to a target destination in the robot environment;
• determining a route specification for navigating the robot from the current location to the target destination within the robot environment, the route specification comprising a series of waypoints and corresponding edges each interconnecting a respective pair of the series of waypoints, wherein determining the route specification includes selecting the series of waypoints and corresponding edges from a plurality of waypoints and a plurality of edges included in a map of the environment;
• for each waypoint in the series of waypoints in the route specification, generating a goal region encompassing the corresponding waypoint in the route specification;
• generating at least one constraint region encompassing at least one goal region, the at least one constraint region establishing boundaries for the robot to remain within while traversing toward the target destination;
• adjusting an amount of margin distance between the robot and an obstacle based on a size of the at least one constraint region;
• and
• navigating the robot from the current location to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.