# US 2020/0401144 A1 · Navigating semi-autonomous mobile robots > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0401144 A1 - Document ID: US20200401144A1 - Status: Published application - Kind: A1 - Application number: 16/867,168 - Filed: 2020-05-05 - Published: 2020-12-24 - Earliest claimed: 2015-12-23 - Assignees: Intel Corporation - Applicants: Intel Corporation - Inventors: Lior Storfer; Tamara Gaidar; Ido Lapidot - Web page: https://patentgrep.com/patent/US20200401144A1 ## CPC - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - G05D 1/0297: {by controlling means in a control room} - G05D 1/223: Command input arrangements on the remote controller, e.g. joysticks or touch screens - G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM] - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G08G 1/207: {with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries} - B25J 9/1676: {Avoiding collision or forbidden zones} - H04W 4/021: Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract Techniques for navigating semi-autonomous mobile robots are described. A semi-autonomous mobile robot moves within an environment to complete a task. A navigation server communicates with the robot and provides the robot information. The robot includes a navigation map of the environment, interaction information, and a security level. To complete the task, the robot transmits a route reservation request to the navigation server, the route reservation request including a priority for the task, a timeslot, and a route. The navigation server grants the route reservation if the task priority is higher than the task priorities of conflicting route reservation requests from other robots. As the robot moves within the environment, the robot detects an object and attempts to classify the detected object as belonging to an object category. The robot retrieves an interaction profile for the object, and interacts with the object according to the retrieved interaction profile. ## Claims ### Claim at position 1 -20. (canceled) ### Claim 21 A robot comprising: a body; a motor to move the body in an environment; wireless communication circuitry; at least one sensor carried by the body, the at least one sensor to output at least one signal corresponding to an object in the environment; a storage device carried by the body; and at least one processor carried by the body, the at least one processor to execute instructions to: classify the object based on the at least one signal from the at least one sensor and object profile data, determine a first travel path of the robot based on the classification of the object, a map of the environment and security settings, the security settings to identify an area the robot is forbidden to enter, the at least one processor to determine the first travel path to avoid the area, and change the first travel path to a second travel path in response to a notification of an emergency. ### Claim 22 (depends on 21) The robot as defined in claim 21, wherein the at least one processor is to determine the first travel path of the robot to avoid an area having traffic. ### Claim 23 (depends on 21) The robot as defined in claim 21, wherein the at least one processor is to classify the object in a first object classification or in a second object classification, and wherein the first object classification corresponds to humans and the second object classification corresponds to non-human objects. ### Claim 24 (depends on 23) The robot as defined in claim 23, wherein the second object classification corresponds to robots. ### Claim 25 (depends on 21) The robot as defined in claim 21, wherein the at least one processor is to set an emergency level of the robot in response to the notification of the emergency. ### Claim 26 (depends on 21) The robot as defined in claim 21, wherein the first travel path includes a first lane assigned to robots, the first lane separate from a second lane assigned to humans. ### Claim 27 (depends on 26) The robot as defined in claim 26, wherein the at least one processor is to vary at least one of the first or second lanes in response to the notification of the emergency. ### Claim 28 (depends on 27) The robot as defined in claim 27, wherein the at least one processor is to is to change a direction of the at least one of the first or second lanes in response to the notification of the emergency. ### Claim 29 (depends on 27) The robot as defined in claim 27, wherein the at least one processor is to change an assignment of the first lane to humans in response to the notification of the emergency. ### Claim 30 (depends on 21) The robot as defined in claim 21, wherein the second travel path enters the area the robot is forbidden to enter. ### Claim 31 A storage device comprising instructions which, when executed, cause at least one processor of a robot to: classify an object based on object profile data and at least one signal from at least one sensor; determine a first travel path of the robot based on the classification of the object, a map of an environment and security settings, the security settings to identify an area the robot is forbidden to enter, the first travel path to avoid the area; and change the first travel path to a second travel path in response to a notification of an emergency. ### Claim 32 (depends on 31) The storage device as defined in claim 31, wherein the area is a first area, and wherein the instructions cause the at least one processor to determine the first travel path of the robot to avoid a second area having traffic corresponding to humans. ### Claim 33 (depends on 31) The storage device as defined in claim 31, wherein the instructions further cause the at least one processor to classify the object in a first object classification or in a second object classification, and wherein the first object classification corresponds to humans and the second object classification corresponds to non-human objects. ### Claim 34 (depends on 33) The storage device as defined in claim 33, wherein the second object classification corresponds to robots. ### Claim 35 (depends on 31) The storage device as defined in claim 31, wherein the instructions cause the at least one processor to set to an emergency level of the robot in response to the notification of the emergency. ### Claim 36 (depends on 31) The storage device as defined in claim 31, wherein the instructions cause the at least one processor to change a first lane or a second lane in response to the notification of the emergency, the first lane assigned to robots and the second lane assigned to humans. ### Claim 37 (depends on 36) The storage device as defined in claim 36, wherein the instructions cause the at least one processor to change a direction of the first lane in response to the notification of the emergency. ### Claim 38 (depends on 36) The storage device as defined in claim 36, wherein the instructions cause the at least one processor to change the assignment of the at least one of the first lane in response to the notification of the emergency. ### Claim 39 An apparatus comprising: means for outputting at least one signal corresponding to an object in an environment; means for classifying the object based on the at least one signal and object profile data; and means for processing to: determine a first travel path of a robot based on the classification of the object, a map of the environment and security settings that identify an area the robot is forbidden to enter, the first travel path to be determined to avoid the area, and change the first travel path to a second travel path in response to a notification of an emergency. ### Claim 40 (depends on 39) The apparatus as defined in claim 39, wherein the processing means is to assign lanes for human use and robot use. ### Claim 41 (depends on 39) The apparatus as defined in claim 39, wherein the classifying means is to determine whether an object is a human or a non-human object. ### Claim 42 (depends on 39) The apparatus as defined in claim 39, wherein the processing means is to determine the first travel path to avoid an area having traffic.