Robot planning for concurrent execution of actions
AssigneeIntrinsic Innovation LLC
InventorStoyan Gaydarov
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 each skill, wherein the projection function generates a skill footprint specifying resources requested for performing the skill and a volume occupied by a corresponding entity used to perform the skill; determining that the skill footprints generated by the projection functions are in conflict; and in response, executing the skills in sequence.
Claims20
A method performed by one or more computers, the method comprising:
- receiving data defining multiple skills to be performed by one or more robots in an operating environment;
- invoking a projection function implemented by each skill, wherein the projection function generates a skill footprint specifying resources requested for performing the skill and a volume occupied by a corresponding entity used to perform the skill;
- determining that the skill footprints generated by the projection functions are in conflict;
- and
- in response, executing the skills in sequence.
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 data defining multiple skills to be performed by one or more robots in an operating environment;
- invoking a projection function implemented by each skill, wherein the projection function generates a skill footprint specifying resources requested for performing the skill and a volume occupied by a corresponding entity used to perform the skill;
- determining that the skill footprints generated by the projection functions are in conflict;
- and
- in response, executing the skills in sequence.
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 data defining multiple skills to be performed by one or more robots in an operating environment;
- invoking a projection function implemented by each skill, wherein the projection function generates a skill footprint specifying resources requested for performing the skill and a volume occupied by a corresponding entity used to perform the skill;
- determining that the skill footprints generated by the projection functions are in conflict;
- and
- in response, executing the skills in sequence.
Dependencies are inferred from the claim text.