Robotic guarded motion system and method
Abstract
A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.
- Inventors:
-
- Idaho Falls, ID
- Issue Date:
- Research Org.:
- Idaho National Laboratory (INL), Idaho Falls, ID (United States)
- Sponsoring Org.:
- USDOE
- OSTI Identifier:
- 1014172
- Patent Number(s):
- 7668621
- Application Number:
- US Patent Application 11/428,769
- Assignee:
- The United States of America as represented by the United States Department of Energy (Washington, DC)
- Patent Classifications (CPCs):
-
G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G - PHYSICS G06 - COMPUTING G06N - COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
- DOE Contract Number:
- AC07-05ID14517
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
Citation Formats
Bruemmer, David J. Robotic guarded motion system and method. United States: N. p., 2010.
Web.
Bruemmer, David J. Robotic guarded motion system and method. United States.
Bruemmer, David J. Tue .
"Robotic guarded motion system and method". United States. https://www.osti.gov/servlets/purl/1014172.
@article{osti_1014172,
title = {Robotic guarded motion system and method},
author = {Bruemmer, David J},
abstractNote = {A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2010},
month = {2}
}
Works referenced in this record:
Learning occupancy grids with forward models
conference, January 2001
- 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)
A Communication Protocol Supporting Dynamic Autonomy Agreements in Multi-agent Systems
book, January 2001
- Barber, K. Suzanne; Martin, Cheryl E.; McKay, Ryan M.
- Advances in Artificial Intelligence. PRICAI 2000 Workshop Reader
Adaptable Web interfaces for networked robots
conference, January 2005
- Fernandez-Madrigal, J. A.; Cruz-Martin, E.; Cruz-Martin, A.
- 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
The Wayfarer modular navigation payload for intelligent robot infrastructure
conference, May 2005
- Yamauchi, Brian
- Defense and Security, SPIE Proceedings
A HAL for Component-Based Embedded Operating Systems
conference, January 2005
- Qiming Teng,
- 29th Annual International Computer Software and Applications Conference (COMPSAC'05)
The CLARAty architecture for robotic autonomy
conference, January 2001
- Volpe, R.; Nesnas, I.; Estlin, T.
- 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542)
Developing an autonomy infusion infrastructure for robotic explorationi'l
conference, January 2004
- Bualat, M. G.; Kunz, C. G.; Wright, A. R.
- 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)
Shared Understanding for Collaborative Control
journal, July 2005
- 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
Robot control in hard real-time environment
conference, January 1997
- Buttazzo, G.; Conticelli, F.; Lamastra, G.
- Proceedings Fourth International Workshop on Real-Time Computing Systems and Applications
Adaptable semi-autonomy in personal robots
conference, January 2001
- Laschi, C.; Teti, G.; Tamburrini, G.
- Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591)
ETHNOS-II: A programming environment for distributed multiple robotic systems
conference, January 1999
- 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