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AssigneeRealtime Robotics, Inc.
InventorsWilliam Thomas Floyd-Jones, Sean Michael Murray, George Dimitri Konidaris, Daniel Jeremy Sorin
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Collision detection useful in motion planning for robotics advantageously employs data structure representations of robots, persistent obstacles and transient obstacles in an environment in which a robot will operate. Data structures may take the form of hierarchical data structures ((e.g., octrees, sets of volumes or boxes (e.g., a tree of axis-aligned bounding boxes (AABBs), a tree of oriented (not axis-aligned) bounding boxes, or a tree of spheres)) or non-hierarchical data structures (e.g., Euclidean Distance Fields) Such can result in computational efficiency, reduce memory requirements, and lower power consumption. The collision detection can take the form as a standalone function, providing a Boolean result that can be employed in executing any of a variety of different motion planning algorithms.
A method of operation of at least one component of a processor-based system useful in motion planning for robotics, the method comprising:
A system to generate collision assessments useful in motion planning for robotics, the system comprising:
Dependencies are inferred from the claim text.