System for localization and obstacle detection using a common receiver

A localization and obstacle detection method comprising:

• receiving at a first receiver physically associated with a mobile object both a first signal, the first signal projected from a source other than the mobile object, and a second signal, the second signal projected from the mobile object, wherein the first receiver comprises a single sensor used to receive both the first signal, used to determine a location of the robot, and the second signal, used to determine a presence of an obstacle;
• distinguishing the first received signal from the second received signal based on at least one signal characteristic that differs between the first received signal and the second received signal;
• localizing the mobile object in an environment based at least in part on the first received signal received at the single sensor;
• determining that the mobile object is proximate to an obstacle in the environment based at least in part on the second received signal received at the single sensor;
• maintaining a space between the mobile object and the proximate obstacle in the environment,
• wherein the first signal and the second signal are of the same signal type and have at least one different characteristic relative to each other.

A mobile robot comprising:

• a signal projector configured to project a first signal into an environment, the first signal being of a first signal type and having a first value for a signal property;
• a first signal receiver configured to receive signals of the first signal type, including at least both the first signal and a second signal, the second signal projected from a projector not on the robot, wherein the first signal receiver comprises a single sensor used to receive both the first signal, used to determine a location of the robot, and the second signal, used to determine a presence of an obstacle;
• wherein the second signal is of the first signal type and has a second value for the signal property, the second value different from the first value;
• a localizer configured to determine a location of the robot in the environment based at least in part on the second signal received by the single sensor;
• and
• a detector configured to determine the presence of an obstacle in the environment based at least in part on the first signal received by the single sensor;
• wherein the robot is configured to move in the environment.