Advanced Behavior Engine
First Claim
1. A method of commanding a remote vehicle, the method comprising:
- executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action, the best feasible action comprising actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected;
determining, on the controller, resource commands corresponding to the best feasible action for commanding resources of the remote vehicle; and
commanding, using the controller, the resources of the remote vehicle based on the resource commands.
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Accused Products
Abstract
A method of commanding a remote vehicle includes executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action. The method also includes determining servo commands corresponding to the best feasible action for one or more actuators of a drive system or a manipulation system of the remote vehicle and commanding the one or more actuators of the remote vehicle based on the servo commands. The best feasible action includes actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected.
15 Citations
20 Claims
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1. A method of commanding a remote vehicle, the method comprising:
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executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action, the best feasible action comprising actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected; determining, on the controller, resource commands corresponding to the best feasible action for commanding resources of the remote vehicle; and commanding, using the controller, the resources of the remote vehicle based on the resource commands. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A robotics system comprising:
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system resources; a control arbiter for each system resource, each control arbiter controlling its associated system resource; a system controller in communication with the control arbiters, the system controller; executing a command based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action, the best feasible action comprising actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected; determining resource commands corresponding to the best feasible action for the system resources; and communicating the resource commands to at least one control arbiter for commanding affected system resources. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification