Occupancy change detection system and method
Abstract
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.
- Inventors:
-
- Idaho Falls, ID
- Issue Date:
- Research Org.:
- Idaho National Laboratory (INL), Idaho Falls, ID (United States)
- Sponsoring Org.:
- USDOE
- OSTI Identifier:
- 988839
- Patent Number(s):
- 7584020
- Application Number:
- 11/428,646
- Assignee:
- Battelle Energy Alliance, LLC (Idaho Falls, ID)
- 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
- Subject:
- 47 OTHER INSTRUMENTATION
Citation Formats
Bruemmer, David J, and Few, Douglas A. Occupancy change detection system and method. United States: N. p., 2009.
Web.
Bruemmer, David J, & Few, Douglas A. Occupancy change detection system and method. United States.
Bruemmer, David J, and Few, Douglas A. Tue .
"Occupancy change detection system and method". United States. https://www.osti.gov/servlets/purl/988839.
@article{osti_988839,
title = {Occupancy change detection system and method},
author = {Bruemmer, David J and Few, Douglas A},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2009},
month = {9}
}
Save to My Library
You must Sign In or Create an Account in order to save documents to your library.
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)
Introduction to Hardware Abstraction Layers for SoC
book, January 2003
- Yoo, Sungjoo; Jerraya, Ahmed A.
- Embedded Software for SoC
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