Disturbance compensation
AssigneeNVIDIA Corporation
InventorsMohammed Nasir, Vishal Murali, Yue Sun
Life of this patent
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Abstract
The present disclosure relates to determining an observed state of a system based at least on sensor data generated using one or more sensors of the system. The present disclosure further relates to generating disturbance data based at least on comparing an estimated state of the system with the observed state of the system. The present disclosure further relates to updating one or more disturbance terms of a state space formulation based at least on the disturbance data. The present disclosure further relates to generating, based at least on the state space formulation, a control command that directs one or more operations of the system according to plan data indicative of a plan for completing one or more tasks of the system.
Claims20
A system comprising:
- one or more central processing units (CPUs), one or more graphics processing units (GPUs), and one or more hardware accelerators, the system being configured to perform operations comprising:
- generating disturbance data based at least on one or more differences between a predicted state of a machine and an observed state of the machine;
- and
- generating, based at least on the disturbance data, a control command that directs one or more operations of the machine.
A machine comprising:
- one or more central processing units (CPUs), one or more graphics processing units (GPUs), and one or more hardware accelerators;
- and
- one or more sensors having fields of view or sensory fields external to the machine,
- wherein the machine performs one or more operations based at least on disturbance data generated based at least on one or more differences between a predicted state of the machine and an observed state of the machine.
A method comprising:
- generating disturbance data based at least on one or more differences between a predicted state of a machine and an observed state of the machine;
- and
- directing one or more operations of the machine based at least on the disturbance data.
Dependencies are inferred from the claim text.