Occupancy change detection system and method

Bruemmer, David J; Few, Douglas A

Title: Occupancy change detection system and method

Patent · Tue Sep 01 00:00:00 EDT 2009

OSTI ID:988839

Bruemmer, David J ^[1]; Few, Douglas A ^[1]

Idaho Falls, ID

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.

View Patent

Cite

Export

Save

Research Organization:: Idaho National Laboratory (INL), Idaho Falls, ID (United States)

Sponsoring Organization:: USDOE

DOE Contract Number:: AC07-05ID14517

Assignee:: Battelle Energy Alliance, LLC (Idaho Falls, ID)

Patent Number(s):: 7,584,020

Application Number:: 11/428,646

OSTI ID:: 988839

Country of Publication:: United States

Language:: English

References (12)

Learning occupancy grids with forward models Thrun, S. RSJ/IEEE International Conference on Intelligent Robots and Systems, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) https://doi.org/10.1109/IROS.2001.977219	conference	January 2001
Introduction to Hardware Abstraction Layers for SoC Yoo, Sungjoo; Jerraya, Ahmed A. Embedded Software for SoC https://doi.org/10.1007/0-306-48709-8_14	book	January 2003
A Communication Protocol Supporting Dynamic Autonomy Agreements in Multi-agent Systems Barber, K. Suzanne; Martin, Cheryl E.; McKay, Ryan M. Advances in Artificial Intelligence. PRICAI 2000 Workshop Reader https://doi.org/10.1007/3-540-45408-X_31	book	January 2001
Adaptable Web interfaces for networked robots Fernandez-Madrigal, J. A.; Cruz-Martin, E.; Cruz-Martin, A. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems https://doi.org/10.1109/IROS.2005.1545297	conference	January 2005
The Wayfarer modular navigation payload for intelligent robot infrastructure Yamauchi, Brian Defense and Security, SPIE Proceedings https://doi.org/10.1117/12.604046	conference	May 2005
A HAL for Component-Based Embedded Operating Systems 29th Annual International Computer Software and Applications Conference (COMPSAC'05) https://doi.org/10.1109/COMPSAC.2005.25	conference	January 2005
The CLARAty architecture for robotic autonomy Volpe, R.; Nesnas, I.; Estlin, T. 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542) https://doi.org/10.1109/AERO.2001.931701	conference	January 2001
Developing an autonomy infusion infrastructure for robotic explorationi'l Bualat, M. G.; Kunz, C. G.; Wright, A. R. 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720) https://doi.org/10.1109/AERO.2004.1367685	conference	January 2004
Shared Understanding for Collaborative Control Bruemmer, D. J.; Few, D. A.; Boring, R. L. IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, Vol. 35, Issue 4 https://doi.org/10.1109/TSMCA.2005.850599	journal	July 2005
Robot control in hard real-time environment Buttazzo, G.; Conticelli, F.; Lamastra, G. Proceedings Fourth International Workshop on Real-Time Computing Systems and Applications https://doi.org/10.1109/RTCSA.1997.629195	conference	January 1997
Adaptable semi-autonomy in personal robots Laschi, C.; Teti, G.; Tamburrini, G. Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591) https://doi.org/10.1109/ROMAN.2001.981894	conference	January 2001
ETHNOS-II: A programming environment for distributed multiple robotic systems Piaggio, M.; Sgorbissa, A.; Zaccaria, R. HICSS 32 - 32nd Annual Hawaii International Conference on System Sciences, Proceedings of the 32nd Annual Hawaii International Conference on Systems Sciences. 1999. HICSS-32. Abstracts and CD-ROM of Full Papers https://doi.org/10.1109/HICSS.1999.772834	conference	January 1999

Similar Records

Autonomous navigation system and method

Patent · Tue Sep 08 00:00:00 EDT 2009 · OSTI ID:988839

Bruemmer, David J; Few, Douglas A

Robotic guarded motion system and method

Patent · Tue Feb 23 00:00:00 EST 2010 · OSTI ID:988839

Bruemmer, David J

Robotic follow system and method

Patent · Tue May 01 00:00:00 EDT 2007 · OSTI ID:988839

Bruemmer, David J; Anderson, Matthew O

Related Subjects

47 OTHER INSTRUMENTATION

Title: Occupancy change detection system and method

Citation Formats

References (12)

Similar Records

Related Subjects