Autonomous multi-platform robot system

A method of implementing an autonomous mobile platform system within an environment comprising the following steps:

• providing multiple mobile platforms;
• allocating mapping, localization, planning and control functions to a first set of the mobile platforms;
• allocating functional task performance functions to a second set of the mobile platforms;
• mapping the environment, localizing substantially all platforms within the environment and planning task performance with the first set of mobile platforms;
• performing the tasks with the second set of mobile platforms;
• and
• controlling and tracking the task performance by the second set of platforms with the first set of platforms.

A system of autonomous, mobile robots operating within an environment and comprising:

• one or more functional mobile robot(s) that are responsible for performing functional tasks;
• one or more navigator mobile robot(s) that localize themselves and the functional robot(s) within the environment, plan the tasks to be performed by the functional robot(s), and control the functional robot(s) during task performance, wherein each navigator robot comprises:
• one or more sensors for gathering data from the environment;
• a controller for directing the operations of both the navigator and the functional robot(s);
• a memory for storing maps of the environment;
• and
• a transmitter for transmitting control signals to the functional robot(s);
• and
• wherein each navigator robot generates a dynamic map of the environment by obtaining sensor data from its immediate surroundings, creating a temporary map from the sensor data, incorporating the temporary map into the dynamic map, and moving to a new location to obtain new sensor data.

A system of autonomous, mobile robots operating within an environment and comprising:

• one or more functional mobile robot(s) that are responsible for performing functional tasks;
• one or more navigator mobile robot(s) that localize themselves and the functional robot(s) within the environment, plan the tasks to be performed by the functional robot(s), and control the functional robot(s) during task performance, wherein each navigator robot comprises:
• one or more sensors for gathering data from the environment;
• a controller for directing the operations of both the navigator and the functional robot(s);
• a memory for storing maps of the environment;
• and
• a transmitter for transmitting control signals to the functional robot(s);
• and
• wherein each navigator robot generates a static map of the environment by following and mapping the outer perimeter of the environment.

A system of autonomous, mobile robots operating within an environment and comprising:

• one or more functional mobile robot(s) that are responsible for performing functional tasks;
• one or more navigator mobile robot(s) that localize themselves and the functional robot(s) within the environment, plan the tasks to be performed by the functional robot(s), and control the functional robot(s) during task performance, wherein each navigator robot comprises:
• one or more sensors for gathering data from the environment;
• a controller for directing the operations of both the navigator and the functional robot(s);
• a memory for storing maps of the environment;
• and
• a transmitter for transmitting control signals to the functional robot(s);
• and
• wherein each navigator robot stores the tasks to be performed by the functional robot in the memory.

A system of autonomous, mobile robots operating within an environment and comprising:

• one or more functional mobile robot(s) that are responsible for performing functional tasks;
• one or more navigator mobile robot(s) that localize themselves and the functional robot(s) within the environment, plan the tasks to be performed by the functional robot(s), and control the functional robot(s) during task performance;
• and
• a base station for assisting in task completion, tracking of functional robot(s) and recharging of the robots.

A system of autonomous, mobile robots operating within an environment and comprising:

• one or more functional mobile robot(s) that are responsible for performing functional tasks;
• one or more navigator mobile robot(s) that localize themselves and the functional robot(s) within the environment, plan the tasks to be performed by the functional robot(s), and control the functional robot(s) during task performance;
• and
• wherein computations associated with localization, planning and control are performed by a stationary computer and communicated to the navigator robot(s).