Method for controlling a set of robots, and set of robots
First Claim
1. A method for piloting a set of robots to bring it into or keep it in a predetermined pack configuration and for it to follow a trajectory that is globally parallel to a predetermined trajectory, the method comprising, for each robot of the set of robots:
- a step of generation of a guidance instruction for the robot at a given instant corresponding to a correction to be made to a velocity vector of the robot, the guidance instruction of each robot of the set of robots being determined using at least one measurement made by a perception device embedded on board the robot permitting to localize the robot relative to at least another robot of the set of robots and using a set of at least one constraint for determining the guidance instruction, the set of at least one constraint being common to all robots of the set of robots and comprising a pack constraint comprising at least one set of at least one relative positioning constraint including a first relative positioning constraint comprising a first distance constraint corresponding to a predetermined distance having to separate the robot from its closest neighbors, called neighbors of the first order in the predetermined pack configuration, anda step of piloting the robot so as to observe the guidance instruction,in which the set of at least one constraint includes a belonging constraint representative of a second relative positioning constraint that another robot of the set of robots has to respect relative to the robot to belong to a neighborhood of the robot at the given instant, and the predetermined trajectory which is a four-dimensional trajectory and a position that the robot ought to occupy if it followed the predetermined trajectory, and in which the step of generation of the guidance instruction for the robot at the given instant comprises a step of determination of the neighborhood of the robot, the neighborhood comprising each other robot verifying the constraint of belonging, the guidance instruction for the robot at the given instant being generated from the position of the robot;
relative to a set of at least one target position defined from a position of each robot of the neighborhood and from the pack constraint and relative to a reference position, when the neighborhood is not empty,relative to the reference position when the neighborhood is empty.
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Accused Products
Abstract
A method is provided for piloting a set of robots comprising, for each robot, a step of generation of a guidance instruction for the robot at a given instant, the guidance instructions for the set of robots being determined from a single set of constraints comprising a pack constraint comprising at least one set of at least one first relative positioning constraint between a robot and its neighbors of the first order in the pack for the set of robots to form a pack exhibiting a predetermined shape, the method further comprising a step of piloting of the robots so as to observe the guidance instruction.
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Citations
16 Claims
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1. A method for piloting a set of robots to bring it into or keep it in a predetermined pack configuration and for it to follow a trajectory that is globally parallel to a predetermined trajectory, the method comprising, for each robot of the set of robots:
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a step of generation of a guidance instruction for the robot at a given instant corresponding to a correction to be made to a velocity vector of the robot, the guidance instruction of each robot of the set of robots being determined using at least one measurement made by a perception device embedded on board the robot permitting to localize the robot relative to at least another robot of the set of robots and using a set of at least one constraint for determining the guidance instruction, the set of at least one constraint being common to all robots of the set of robots and comprising a pack constraint comprising at least one set of at least one relative positioning constraint including a first relative positioning constraint comprising a first distance constraint corresponding to a predetermined distance having to separate the robot from its closest neighbors, called neighbors of the first order in the predetermined pack configuration, and a step of piloting the robot so as to observe the guidance instruction, in which the set of at least one constraint includes a belonging constraint representative of a second relative positioning constraint that another robot of the set of robots has to respect relative to the robot to belong to a neighborhood of the robot at the given instant, and the predetermined trajectory which is a four-dimensional trajectory and a position that the robot ought to occupy if it followed the predetermined trajectory, and in which the step of generation of the guidance instruction for the robot at the given instant comprises a step of determination of the neighborhood of the robot, the neighborhood comprising each other robot verifying the constraint of belonging, the guidance instruction for the robot at the given instant being generated from the position of the robot; relative to a set of at least one target position defined from a position of each robot of the neighborhood and from the pack constraint and relative to a reference position, when the neighborhood is not empty, relative to the reference position when the neighborhood is empty. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification