Combining transformers for robotics planning
US11747787B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 28, 2020 |
| Grant date | Sep 5, 2023 |
| Priority date | — |
| Expiry date | May 26, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40518
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for optimizing a plan for one or more robots using a process definition graph. One of the methods includes receiving a process definition graph for a robot, the process definition graph having a plurality of action nodes, and the plurality of action nodes including a plurality of motion nodes that were previously split from a single motion node due to a conflict with a second motion node representing a second motion to be performed by another robot; determining that the conflict with the second motion node no longer exists; and in response to determining that the conflict with the second motion node no longer exists, modifying the process definition graph including combining the plurality of motion nodes into a new single motion node representing all of the motions of the plurality of motion nodes.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.