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US 2021/0197368 A1Published application
Robot planning for envelope invariants
OwnerAndre Gaschler, Tim Niemuellerinventors
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Abstract
This specification describes how a system can detect that an envelope invariant with a corresponding condition has been violated and, in response to the detection, perform an automatic recovery action.
Claims27
A method comprising:
- receiving an initial plan for performing a particular task with a robot having a sensor, wherein the initial plan includes a sequence of two or more actions, and wherein the sequence of the two or more actions comprises a first action followed by a second action;
- processing the initial plan to determine that the initial plan includes an envelope invariant, wherein the envelope invariant comprises a condition that holds between the first action of the sequence and the second action of the sequence;
- executing the initial plan including performing the first action in the sequence;
- determining that the envelope invariant has been violated before performing the second action in the sequence;
- and
- in response to determining that the envelope invariant has been violated before performing the second action in the sequence, performing a recovery operation.
3 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 the actions of:
- receiving an initial plan for performing a particular task with a robot having a sensor, wherein the initial plan includes a sequence of two or more actions, and wherein the sequence of the two or more actions comprises a first action followed by a second action;
- processing the initial plan to determine that the initial plan includes an envelope invariant, wherein the envelope invariant comprises a condition that holds between the first action of the sequence and the second action of the sequence;
- executing the initial plan including performing the first action in the sequence;
- determining that the envelope invariant has been violated before performing the second action in the sequence;
- and
- in response to determining that the envelope invariant has been violated before performing the second action in the sequence, performing a recovery operation.
4 more elements
A computer storage medium encoded with a computer program, the program comprising instructions that are operable, when executed by data processing apparatus, to cause the data processing apparatus to perform the actions of:
- receiving an initial plan for performing a particular task with a robot having a sensor, wherein the initial plan includes a sequence of two or more actions, and wherein the sequence of the two or more actions comprises a first action followed by a second action;
- processing the initial plan to determine that the initial plan includes an envelope invariant, wherein the envelope invariant comprises a condition that holds between the first action of the sequence and the second action of the sequence;
- executing the initial plan including performing the first action in the sequence;
- determining that the envelope invariant has been violated before performing the second action in the sequence;
- and
- in response to determining that the envelope invariant has been violated before performing the second action in the sequence, performing a recovery operation.
3 more elements
Dependencies are inferred from the claim text.