US 12,709,005 B2Granted

Robot planning for concurrent execution of actions

AssigneeIntrinsic Innovation LLC

InventorsStoyan Gaydarov, Scott Christopher Randolph

Life of this patent

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Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robotics planning. One of the methods comprises receiving data defining multiple skills to be performed by one or more robots in an operating environment; invoking a projection function implemented by a skill, wherein the projection function generates a skill footprint representing resources requested for performing the skill and a volume occupied by a corresponding entity used to perform the skill; determining that an initial skill footprint generated by the projection function conflicts with a skill footprint of another skill already being executed; and in response, reinvoking the projection function with data representing the skill footprint of the other skill already being executed.

Claims20

Dependent claims

A method performed by one or more computers, the method comprising:

receiving skill data defining multiple skills to be executed by multiple robots in an operating environment, wherein the skill data is associated with configuration metadata that assigns one or more of the multiple robots to execute each skill;
invoking a projection function implemented by a skill to be executed by one of the multiple robots that is assigned to execute the skill according to the configuration metadata, wherein the projection function generates a skill footprint representing resources requested for executing the skill and a volume occupied by a corresponding entity used to execute the skill;
determining that an initial skill footprint generated by the projection function conflicts with a skill footprint of another skill that is currently being executed by another one of the multiple robots that is assigned to execute the other skill according to the configuration metadata, wherein the determining comprises determining that a same robot is used by both the skill to be executed and the other skill;
in response, reinvoking the projection function with data representing the skill footprint of the other skill that is currently being executed by the other one of the multiple robots to generate an updated skill footprint;
determining that the updated skill footprint generated by reinvoking the projection function does not conflict with the skill footprint of the other skill that is currently being executed by the other one of the multiple robots;
and
in response, initiating execution of the skill by the one of the multiple robots that is assigned to execute the skill according to the configuration metadata while the other skill continues to be executed by the other one of the multiple robots that is assigned to execute the other skill according to the configuration metadata.

4 more elements

A system comprising:

one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
receiving skill data defining multiple skills to be executed by multiple robots in an operating environment, wherein the skill data is associated with configuration metadata that assigns one or more of the multiple robots to execute each skill;
invoking a projection function implemented by a skill to be executed by one of the multiple robots that is assigned to execute the skill according to the configuration metadata, wherein the projection function generates a skill footprint representing resources requested for executing the skill and a volume occupied by a corresponding entity used to execute the skill;
determining that an initial skill footprint generated by the projection function conflicts with a skill footprint of another skill that is currently being executed by another one of the multiple robots that is assigned to execute the other skill according to the configuration metadata, wherein the determining comprises determining that a same robot is used by both the skill to be executed and the other skill;
in response, reinvoking the projection function with data representing the skill footprint of the other skill that is currently being executed by the other one of the multiple robots to generate an updated skill footprint;
determining that the updated skill footprint generated by reinvoking the projection function does not conflict with the skill footprint of the other skill that is currently being executed by the other one of the multiple robots;
and
in response, initiating execution of the skill by the one of the multiple robots that is assigned to execute the skill according to the configuration metadata while the other skill continues to be executed by the other one of the multiple robots that is assigned to execute the other skill according to the configuration metadata.

5 more elements

One or more non-transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:

receiving skill data defining multiple skills to be executed by multiple robots in an operating environment, wherein the skill data is associated with configuration metadata that assigns one or more of the multiple robots to execute each skill;
invoking a projection function implemented by a skill to be executed by one of the multiple robots that is assigned to execute the skill according to the configuration metadata, wherein the projection function generates a skill footprint representing resources requested for executing the skill and a volume occupied by a corresponding entity used to execute the skill;
determining that an initial skill footprint generated by the projection function conflicts with a skill footprint of another skill that is currently being executed by another one of the multiple robots that is assigned to execute the other skill according to the configuration metadata, wherein the determining comprises determining that a same robot is used by both the skill to be executed and the other skill;
in response, reinvoking the projection function with data representing the skill footprint of the other skill that is currently being executed by the other one of the multiple robots to generate an updated skill footprint;
determining that the updated skill footprint generated by reinvoking the projection function does not conflict with the skill footprint of the other skill that is currently being executed by the other one of the multiple robots;
and
in response, initiating execution of the skill by the one of the multiple robots that is assigned to execute the skill according to the configuration metadata while the other skill continues to be executed by the other one of the multiple robots that is assigned to execute the other skill according to the configuration metadata.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/831,302Filed 2 Jun 2022
Published: US 2023/0390926 A17 Dec 2023
Granted: 18 Aug 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

B25J 9/1661
Characterised by programming, planning systems for manipulators: characterised by task planning, object-oriented languages
B25J 9/1664
Characterised by programming, planning systems for manipulators: characterised by motion, path, trajectory planning
B25J 9/1682
Characterised by the tasks executed: dual arm manipulator; Coordination of several manipulators
G05B 2219/39146
Robotics, robotics to robotics hand: swarm, multiagent, distributed multitask fusion, cooperation multi robots