Causing a mobile robot to move according to a planned trajectory determined from a prediction of agent states of agents in an environment of the mobile robot
US12061480B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Apr 12, 2021 |
| Grant date | Aug 13, 2024 |
| Priority date | — |
| Expiry date | Aug 8, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2556/20
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A mobile robot can be caused to move according to a planned trajectory. The mobile robot can be a vehicle. Information about agents in an environment of the mobile robot can be received from sensors. At a first time, a spatiotemporal graph can be produced. The spatiotemporal graph can represent relationships among the agents in the environment. The mobile robot can be one of the agents in the environment. Information from the spatiotemporal graph can be input to neural networks to produce information for a mixture of affine time-varying systems. The mixture of affine time-varying systems can represent an evolution of agent states of the agents. Using the mixture of affine time-varying systems and information associated with the first time, a prediction of the agent states at a second time can be calculated. The mobile robot can be caused to move according to the planned trajectory determined from the prediction.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.