Patent
Method and system for multi-mode coverage for an autonomous robot
Joseph L. Jones,Philip R. Mass +1 more
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TLDR
In this article, a behavior-based control system for a mobile robot is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode and a random bounce mode.Abstract:
A control system for a mobile robot ( 10 ) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode ( 51 ) and a random bounce mode ( 49 ). In other embodiments, spot coverage, such as spiraling ( 45 ), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.read more
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Patent
Autonomous Behaviors for a Remote Vehicle
TL;DR: In this article, the authors propose a method for enhancing operational efficiency of a remote vehicle using a diagnostic behavior, which comprises inputting and analyzing data received from a plurality of sensors to determine the existence of deviations from normal operation of the remote vehicle, updating parameters in a reference mobility model based on deviations from the normal operation, and revising strategies to achieve an operational goal of the vehicle to accommodate deviations from normality.
Patent
Autonomous floor-cleaning robot
TL;DR: In this article, an autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem, and a self-adjusting cleaning head subsystem is presented, which includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure.
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Autonomous surface cleaning robot for wet and dry cleaning
Andrew Ziegler,Duane Gilbert,Christopher Morse,Scott Pratt,Paul E. Sandin,Nancy Dussault,Andrew Jones +6 more
TL;DR: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations as discussed by the authors, where the robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone consisting of cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up after it has been used to clean the surface.
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Navigational control system for a robotic device
Mark Chiappetta,Joseph L. Jones +1 more
TL;DR: In this article, an autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system.
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Autonomous robot auto-docking and energy management systems and methods
TL;DR: In this paper, a method for energy management in a robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit, and performing a predetermined task based at least in part on the quantity of stored energy.
References
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Journal ArticleDOI
Mobile robot localization by tracking geometric beacons
TL;DR: An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed.
Patent
Method and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
Abstract: An apparatus and method for adjusting the orientation of a surgical viewing instrument, which may be used to view a patient target site and any intervening tissue from outside the body, as the position of the instrument is changed by a user. The instrument is attached to a robotic arm assembly and is movable by both the user and the robot. As the user moves the instrument to a different position, the robot automatically corrects the orientation of the instrument to maintain a viewing trajectory defined by the axis of the instrument and a target coordinate in the patient target site. In another aspect there is an apparatus and method for using a surgical robot and attached ultrasound probe to track a moving target in a patient's body. The ultrasound probe has a pressure sensor in its tip, which is maintained in contact with a tissue surface at a specific location at a constant pressure. Subject to this constraint, the robot is directed to adjust the orientation of the probe, as the target point moves, to maintain the axis of the probe in line with the target point.
Journal ArticleDOI
Pose estimation from corresponding point data
TL;DR: The experimental results show that the robust technique can suppress the blunder data which come from outliers or mismatched points, and suggest that accurate inference of rotation and translation with noisy data may require corresponding point data sets with hundreds of corresponding point pairs when the SNR is less than 40 dB.
Patent
System and method for monitoring and control of wireless modules linked to assets
TL;DR: In this article, a system and method for remote asset management is described which can provide the basis for a diverse product group including an improved remote location monitoring system, a means for communicating with and for monitoring the status and or location of a plurality of diverse assets, as well as the means of communicating with said assets for the purpose of modifying the operational status of one or more of said assets according to one of stored data parameters such as location, use, battery power, and such like.
Patent
Apparatus and method for measuring optical characteristics of an object
TL;DR: In this article, a color measurement system using perimeter receiver fiber optics is described. The system utilizes the perimeter receiver to determine information regarding the height and angle of the probe with respect to the object being measured.