Conflict detection and avoidance along a current route of a robot

A non-transitory computer-readable medium storing a set of instructions, the set of instructions comprising:

• one or more instructions that, when executed by one or more processors of a device, cause the device to:
• obtain a trajectory of a first object and a predicted trajectory of a second object;
• detect a conflict between the first object and the second object based on a comparison of the trajectory of the first object and the predicted trajectory of the second object;
• determine alternate routes for the first object,
• wherein the alternate routes include a route segment with a predefined offset from a current route of the first object, and a transition segment disposed between the current route and a respective route segment of the alternate routes, and
• wherein the transition segment connects the current route to the respective route segment;
• evaluate routes, including the alternate routes, according to a metric that is based on:
• at least one of a time or a distance to a point of approach between the first object and the second object;
• and
• select a route, from the routes, to cause the first object to utilize the selected route to avoid the conflict.

A method, comprising:

• obtaining, by a device, a trajectory of a first object and a predicted trajectory of a second object;
• detecting, by the device, a conflict between the first object and the second object based on a comparison of the trajectory of the first object and the predicted trajectory of the second object;
• determining, by the device, alternate routes for the first object,
• wherein the alternate routes include a route segment with a predefined offset from a current route of the first object, and a transition segment disposed between the current route and a respective route segment of the alternate routes, and
• wherein the transition segment connects the current route to the respective route segment;
• evaluating, by the device, routes, including the alternate routes, according to a metric that is based on:
• at least one of a time or a distance to a point of approach between the first object and the second object;
• and
• selecting, by the device, a route, from the routes, to cause the first object to utilize the selected route to avoid the conflict.