×

Display with robotic pixels

  • US 8,723,872 B2
  • Filed: 06/08/2011
  • Issued: 05/13/2014
  • Est. Priority Date: 06/09/2010
  • Status: Active Grant
First Claim
Patent Images

1. A method for controlling multiple non-holonomic robotic elements, comprising:

  • increasing a radius associated with each non-holonomic robotic element by a respective maximum tracking error value with respect to a trajectory of a holonomic robotic element to generate a set of modified radii;

    generating a set of collision-free velocities based on (i) the set of modified radii, a (ii) first set of allowed holonomic velocities for each robotic element of multiple holonomic robotic elements, and (iii) a second set of collision-free velocities for each robotic element of the multiple holonomic robotic elements relative to neighboring robotic elements of the multiple holonomic robotic elements, wherein each robotic element of the multiple holonomic robotic elements is associated with a respective robotic element of the multiple non-holonomic robotic elements;

    selecting an optimal holonomic velocity for each robotic element of the multiple holonomic robotic elements from the set of collision-free velocities; and

    mapping the optimal holonomic velocity for each robotic element of the multiple holonomic robotic elements to each respective robotic element of the multiple non-holonomic robotic elements to generate inputs for controlling collision-free movement of the multiple non-holonomic robotic elements.

View all claims
  • 3 Assignments
Timeline View
Assignment View
    ×
    ×