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AssigneeRealtime Robotics, Inc.
InventorsDaniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones
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A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.
A method of operation in a system to facilitate motion planning, the method comprising:
A method of operation in a system to facilitate motion planning, the method comprising:
Dependencies are inferred from the claim text.