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Title: Robotic guarded motion system and method

Patent ·
OSTI ID:1014172
 [1]
  1. Idaho Falls, ID
+ Show Author Affiliations

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.

Research Organization:
Idaho National Laboratory (INL), Idaho Falls, ID (United States)
Sponsoring Organization:
USDOE
DOE Contract Number:
AC07-05ID14517
Assignee:
The United States of America as represented by the United States Department of Energy (Washington, DC)
Patent Number(s):
7,668,621
Application Number:
US Patent Application 11/428,769
OSTI ID:
1014172
Country of Publication:
United States
Language:
English

References (11)

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conference January 2001
A Communication Protocol Supporting Dynamic Autonomy Agreements in Multi-agent Systems book January 2001
Adaptable Web interfaces for networked robots conference January 2005
The Wayfarer modular navigation payload for intelligent robot infrastructure conference May 2005
A HAL for Component-Based Embedded Operating Systems conference January 2005
The CLARAty architecture for robotic autonomy conference January 2001
Developing an autonomy infusion infrastructure for robotic explorationi'l conference January 2004
Shared Understanding for Collaborative Control journal July 2005
Robot control in hard real-time environment conference January 1997
Adaptable semi-autonomy in personal robots 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

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