System and method for seamless task-directed autonomy for robots
First Claim
1. A graphical user interface for controlling a robot, comprising:
- an environment map window configured for displaying a map of an environment proximate the robot;
a robot designator configured for showing a robot position and a robot pose in the environment map window;
at least one task designator configured for positioning by a user in the environment map window and indicating a task for the robot to achieve; and
a control intermediary configured for linking user defined tasks with robot instructions by;
analyzing a position of the at least one task designator relative to a position of at least one robot component;
determining a task-oriented autonomy level for the robot responsive to the analysis; and
communicating target achievement information to the robot, wherein the target achievement information comprises;
instructions from the control intermediary for guiding the robot to achieve the task if the task-oriented autonomy level comprises low robot initiative; and
instructions from the control intermediary directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level comprises high robot initiative.
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Accused Products
Abstract
Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.
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Citations
31 Claims
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1. A graphical user interface for controlling a robot, comprising:
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an environment map window configured for displaying a map of an environment proximate the robot; a robot designator configured for showing a robot position and a robot pose in the environment map window; at least one task designator configured for positioning by a user in the environment map window and indicating a task for the robot to achieve; and a control intermediary configured for linking user defined tasks with robot instructions by; analyzing a position of the at least one task designator relative to a position of at least one robot component; determining a task-oriented autonomy level for the robot responsive to the analysis; and communicating target achievement information to the robot, wherein the target achievement information comprises; instructions from the control intermediary for guiding the robot to achieve the task if the task-oriented autonomy level comprises low robot initiative; and instructions from the control intermediary directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level comprises high robot initiative. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling a robot, comprising:
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providing a user interface for controlling the robot; positioning at least one task-oriented target in a map on the user interface representing an environment of the robot; determining a task-oriented autonomy level of the robot correlated to a change in the at least one task-oriented target; if the change in the at least one task-oriented target is smaller than a change threshold, instructing the robot to achieve the at least one task-oriented target by intervention instructions from the user interface; and if the change in the at least one task-oriented target is larger than the change threshold, instructing the robot to achieve the at least one task-oriented target using robot initiative to determine a robot plan for achieving the at least one task-oriented target and implementing the robot plan. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method for controlling a robot, comprising:
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receiving instructions for achieving at least one task-oriented target from a user interface, the instructions comprising at least one of intervention instructions, robot initiative instructions, and instructions for setting a task-oriented autonomy level; if the instructions are the robot initiative instructions, then developing a robot plan to achieve the at least one task-oriented target and performing the robot plan; and if the instructions are the intervention instructions, then performing the intervention instructions for achieving the at least one task-oriented target and, if present, overriding the robot plan to achieve the at least one task-oriented target. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A robot platform, comprising:
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at least one perceptor configured for perceiving environmental variables of interest; at least one locomotor configured for providing mobility to the robot platform; and a system controller configured for executing a task-oriented autonomy system, comprising; receiving instructions from a user interface using a communication interface, the instructions for achieving at least one task-oriented target and comprising at least one of intervention instructions, robot initiative instructions, and instructions for setting a task-oriented autonomy level; if the instructions are the robot initiative instructions, developing a robot plan to achieve the at least one task-oriented target and performing the robot plan; and if the instructions are the intervention instructions, then performing the intervention instructions for achieving the at least one task-oriented target from the user interface and, if present, overriding the robot plan to achieve the at least one task-oriented target. - View Dependent Claims (23, 24, 25, 26, 27)
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28. A robot control system, comprising:
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a user computer comprising a memory and at least one processor configured for executing a user interface, the user interface configured for; positioning at least one task-oriented target in a map on the user interface representing an environment of the robot; determining a task-oriented autonomy level of the robot correlated to a change in the at least one task-oriented target; if the change in the at least one task-oriented target is smaller than a change threshold, instructing the robot to achieve the at least one task-oriented target by intervention instructions from the user interface; and if the change in the at least one task-oriented target is larger than the change threshold, instructing the robot to achieve the at least one task-oriented target using robot initiative to determine a robot plan for achieving the at least one task-oriented target and implementing the robot plan; and a robot platform comprising a locomotor and a system controller, the system controller configured for; developing the robot plan to achieve the at least one task-oriented target and performing the robot plan if robot initiative instructions are received from the user computer; and performing the intervention instructions for achieving the at least one task-oriented target and, if appropriate, overriding the robot plan to achieve the at least one task-oriented target if the intervention instructions are received from the user computer. - View Dependent Claims (29, 30, 31)
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Specification