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Simultaneous mapping and planning by a robot

  • US 10,093,021 B2
  • Filed: 06/24/2016
  • Issued: 10/09/2018
  • Est. Priority Date: 12/02/2015
  • Status: Active Grant
First Claim
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1. A method of substantially simultaneously planning a path and mapping an environment by a robot, comprising:

  • determining a mean of an occupancy level for a location in a map;

    determining a probability distribution function (PDF) of the occupancy level;

    calculating a cost function based on the mean occupancy level and a variance of the occupancy level obtained from the PDF; and

    simultaneously planning the path and mapping the environment based on the cost function.

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