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 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 autonomy level indicates high robot initiative.
292 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 instruction 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