System amd methods for adaptive control of robotic devices

• US 20040024490A1
• Filed: 04/16/2003
• Published: 02/05/2004
• Est. Priority Date: 04/16/2002
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Smith, Jennifer, McLurkin, James
• Granted Patent: US 7,117,067 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

Methods for operating robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will performed in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching). By increasing the number of robots, the efficiency in completing the task is also increased.

Claims

1. A method for operating robotic devices, the method comprising the steps of:

defining a first robotic device;

defining a second robotic device;

receiving, by the first robotic device, at least one multi-device primitive command;

receiving, by the first robotic device, state data based at least in part on a state of the second robotic device; and

performing, by at least one of the first robotic device and the second robotic device, a task based at least in part on the multi-device primitive command and the state data.

2. The method of claim 1 wherein the at least one multi-device primitive command comprises at least one of a bond primitive, a multi-bond primitive, a cluster primitive, a disperse primitive, a clumping primitive, a group orbit primitive, a surround primitive, a shape primitive, a topological navigation primitive, an orientation primitive, and a configuration primitive.

3. The method of claim 2 wherein the configuration primitive comprises a signal propagation hierarchy.

4. The method of claim 1 wherein the state data are transmitted by the second robotic device.

5. The method of claim 1 wherein the first robotic device receives the state data directly from the second robotic device.

6. The method of claim 1 wherein the first robotic device receives the state data from the second robotic device via at least one intermediate agent.

7. The method of claim 6 wherein the at least one intermediate agent comprises a third robotic device.

8. The method of claim 6 wherein the at least one intermediate agent comprises a remote sensor.

9. The method of claim 6 wherein the at least one intermediate agent comprises an operator.

10. The method of claim 1 wherein the state data are conveyed optically.

11. The method of claim 1 wherein the state data are conveyed via radio frequency.

12. The method of claim 1 wherein the state data are conveyed via audio frequency.

13. The method of claim 1 wherein the state data are conveyed via a physical link.

14. The method of claim 1 wherein the state data are conveyed via stigmergy.

15. The method of claim 1 wherein the state data are conveyed at a predetermined power level.

16. The method of claim 1 wherein the state data comprises at least one of location, orientation, identity, hierarchy, speed, velocity, acceleration, operational readiness, and configuration of the second robotic device.

17. The method of claim 1 wherein the state data comprises a representation of at least part of a location occupied by the second robotic device.

18. The method of claim 17 wherein the representation comprises a visual representation.

19. The method of claim 17 wherein the representation comprises an audio representation.

20. The method of claim 17 wherein the representation comprises a tactile representation.

21. The method of claim 17 wherein the representation comprises an electromagnetic representation.

22. The method of claim 1 wherein the second robotic device comprises a fixed transmitter.

23. The method of claim 1 wherein the task comprises at least one of data collection, mapping, and searching.

24. A method for operating a robotic device capable of receiving at least one multi-device primitive command, the method comprising the steps of:

monitoring, by the robotic device, of its operational readiness to complete at least one predetermined task;

determining, by the robotic device, a deficiency in its operational readiness; and

executing, by the robotic device, a contingency task based at least in part on the deficiency.

25. The method of claim 24 wherein the deficiency comprises a reduced power supply level and the contingency task comprises returning to a charging station.

26. The method of claim 24 wherein the deficiency comprises an operational failure and the contingency task comprises transmitting an out of service message.

27. The method of claim 26 wherein the out of service message is conveyed to at least one backup robotic device.

28. The method of claim 27 wherein the at least one backup robotic device executes the at least one predetermined task.

29. A method for operating a robotic device capable of receiving at least one multi-device primitive command, the method comprising the steps of:

monitoring, by a monitoring device, of an operational readiness of the robotic device to complete at least one predetermined task;

determining, by the monitoring device, a deficiency in the operational readiness of the robotic device; and

executing, by the monitoring device, a contingency task based at least in part on the deficiency.

30. The method of claim 29 wherein the deficiency comprises a loss of communication between the monitoring device and the robotic device.

31. The method of claim 29 wherein the contingency task comprises causing at least one backup robotic device to execute the at least one predetermined task.

32. The method of claim 29 wherein the monitoring device is a leader robotic device.

33. A method for configuring a plurality of robotic devices capable of receiving at least one multi-device primitive command, the method comprising the steps of:

defining a first robotic device and a remainder of robotic devices in the plurality of robotic devices;

conveying configuration data to the first robotic device; and

propagating the configuration data from the first robotic device to at least one of the remainder of robotic devices.

34. The method of claim 33 wherein the step of propagating the configuration data occurs in a predetermined sequence.

35. A method for monitoring a plurality of robotic devices capable of receiving at least one multi-device primitive command, the method comprising the steps of:

equipping each robotic device with at least one of an optical transmitter and an audio transmitter;

defining at least one of (i) a plurality of optical signals, and (ii) a plurality of audio signals, corresponding at least in part to a state of each robotic device;

transmitting, by each robotic device, at least one of the optical signal and the audio signal; and

observing a plurality of transmitted signals to ascertain inconsistencies therein.

36. A system of robotic devices configured to perform at least one task, the system comprising:

a plurality of robotic devices capable of receiving at least one multi-device primitive command, the plurality comprising a first robotic device and a remainder of robotic devices;

a control apparatus capable of conveying configuration data to the first robotic device; and

a propagation apparatus capable of conveying the configuration data from the first robotic device to at least one of the remainder of robotic devices;

wherein each robotic device comprises;

a sensing apparatus capable of receiving data based at least in part on a location occupied by each robotic device;

a receiving apparatus capable of receiving data from at least one of the control apparatus and at the least one of the remainder of robotic devices; and

a transmitting apparatus capable of transmitting data to at least one of the control apparatus and at the least one of the remainder of robotic devices.

37. The robotic devices of claim 36 wherein the sensing apparatus comprises at least one of an optical sensor, an audio sensor, a radio frequency receiver, a positional sensor, a tactile sensor, an environmental sensor, and an electromagnetic sensor.

38. The robotic devices of claim 36 wherein the receiving apparatus comprises at least one of an optical receiver, an audio receiver, a radio frequency receiver, and a hardwire port.

39. The robotic devices of claim 36 wherein the transmitting apparatus comprises at least one of an optical transmitter, an audio transmitter, a radio frequency transmitter, a stigmergy transmitter, and a hardwire port.

40. The robotic devices of claim 36 wherein the receiving apparatus and the transmitting apparatus are integrated in a single apparatus.

41. The robotic devices of claim 36 wherein the at least one task comprises at least one of data collection, mapping, and searching.

42. A robotic device comprising:

a sensing apparatus capable of receiving data based at least in part on a location occupied by the robotic device;

a receiving apparatus capable of receiving at least one multi-device primitive command;

a transmitting apparatus capable of transmitting data; and

a processing apparatus in communication with the sensing apparatus, the receiving apparatus, and the transmitting apparatus, the processing apparatus capable of processing the at least one multi-device primitive command and directing at least the robotic device to perform at least one task based at least in part on the multi-device primitive command.

43. The robotic device of claim 42 wherein the sensing apparatus comprises at least one of an optical sensor, an audio sensor, a radio frequency receiver, a positional sensor, a tactile sensor, an environmental sensor, and an electromagnetic sensor.

44. The robotic device of claim 42 wherein the receiving apparatus comprises at least one of an optical receiver, an audio receiver, a radio frequency receiver, and a hardwire port.

45. The robotic device of claim 42 wherein the transmitting apparatus comprises at least one of an optical transmitter, an audio transmitter, a radio frequency transmitter, a stigmergy transmitter, and a hardwire port.

46. The robotic device of claim 42 wherein the receiving apparatus and the transmitting apparatus are integrated in a single apparatus.

47. The robotic device of claim 42 wherein the at least one task comprises at least one of data collection, mapping, and searching.