US 2026/0087191 A1 · REACHABILITY EVALUATION USING KINEMATIC MODEL AND TRAVERSAL COSTS

Abstract

The present disclosure provides a system including processors and memory storing instructions that, when executed, cause the system to receive three-dimensional data representing an environment, including navigable surfaces, points of interest, and obstacles. The system constructs a reachability graph representing connections between navigable surfaces and points of interest. The system performs motion planning using a kinematic model by assigning traversal costs to paths that intersect with obstacles while maintaining connectivity through obstacles in the reachability graph. The system evaluates reachability to points of interest based on traversal costs and generates output identifying which points of interest are reachable.

Claims20

Dependent claims

A system, comprising:

one or more processors;
and
a memory storing instructions that, when executed by the one or more processors, cause the system to:
receive three-dimensional (3D) data representing an environment, the 3D data comprising one or more navigable surfaces, one or more points of interest, and one or more obstacles;
construct a reachability graph representing connections between the one or more navigable surfaces and the one or more points of interest;
perform motion planning using a kinematic model by assigning traversal costs to one or more paths that intersect with one or more obstacles while maintaining connectivity through the one or more obstacles in the reachability graph;
evaluate reachability to the one or more points of interest based on the traversal costs;
and
generate output identifying which of the one or more points of interest are reachable.

6 more elements

Dependencies are inferred from the claim text.

Reachability evaluation using kinematic model and traversal costs

Life of this patent

Reachability evaluation using kinematic model and traversal costs

Life of this patent

Abstract

Claims20