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    Multi-robot route planning
    21.
    发明授权
    Multi-robot route planning 有权

    公开(公告)号：US12140967B2

    公开(公告)日：2024-11-12

    申请号：US17460649

    申请日：2021-08-30

    Applicant: Rapyuta Robotics Co., Ltd.

    Inventor： Wen Zheng Li

    IPC: G05D1/02 ,  G05D1/00 ,  G06Q10/04 ,  G06Q10/047 ,  G06Q10/06 ,  G06Q10/0631 ,  G06Q10/08 ,  G06Q50/28

    Abstract: The disclosure provides a method and system for multi-robot route planning. The method includes determining a route plan of a node based on an order value associated with the node, wherein the order value is distance travelled from the node to one or more nodes in a network, occupying an order slot from a list of orders of the node. The determined route plan of the node is sent to the one or more nodes in the network and a new route plan is generated, based on order value threshold and wait time estimate associated with the node. The method includes optimizing the generated new route plan of the node comprising computing a new order value occupying a new order slot from the list of orders of the node in parallel to change in status of order value of the one or more nodes.

    Autonomous vehicles management in an operating environment
    22.
    发明授权
    Autonomous vehicles management in an operating environment 有权

    公开(公告)号：US11975954B2

    公开(公告)日：2024-05-07

    申请号：US17539223

    申请日：2021-12-01

    Applicant: Rapyuta Robotics Co., Ltd.

    Inventor： Abhishek Sharma ,  Veeraj S Khokale ,  Dale Koenig

    IPC: B66F9/06 ,  G05D1/00 ,  G05D1/02

    CPC classification number: B66F9/063 ,  G05D1/0214 ,  G05D1/0274 ,  G05D1/0289 ,  G05D1/0291 ,  G05D2201/0216

    Abstract: The disclosure generally relates to method and system for autonomous vehicles management in an operating environment. The method may include sending a route plan in response to a request received by an autonomous vehicle from amongst a plurality of autonomous vehicles in an operating environment including one or more devices, wherein the one or more device comprises device or device space. The method may further include categorizing the route plan into path segments, the path segments including a first path segment including one or more nodes from the plurality of nodes being inside a device zone of the one or more devices and a second path segment including one or more nodes from the plurality of nodes being outside the device zone of the one or more devices. The method may further include determining a type of path segment from the categorized path segments for each of the node in the navigation segment and annotating the first node of the first path segment with a second precondition based on determination of a destination node from the one or more nodes and the second precondition includes performing a hard lock action of the first device for the autonomous vehicle traversing the first path segment to the destination node.

    TASK ASSIGNMENT IN AUTONOMOUS MOBILE DEVICES
    23.
    发明公开
    TASK ASSIGNMENT IN AUTONOMOUS MOBILE DEVICES 审中-公开

    公开(公告)号：US20230306334A1

    公开(公告)日：2023-09-28

    申请号：US17700644

    申请日：2022-03-22

    Applicant: Rapyuta Robotics Co., Ltd.

    Inventor： Wen Zheng Li

    IPC: G06Q10/06 ,  B25J9/16

    CPC classification number: G06Q10/06316 ,  B25J9/1661 ,  B25J9/1682

    Abstract: The disclosure generally relates to method and system for task assignment in autonomous mobile devices. The method may include associating a value to a task from a plurality of tasks assigned to an agent from a plurality of agents in an operating environment. The method may further include evaluating the associated value to the task based on information received from the one or more agents and dynamically updating the evaluated value in response to the received information from the one or more agents to generate a new value to be associated with the task. The method further includes generating a task assignment plan for the agent based on the new value to be associated with the task, the assigned task is terminated based on the completion of the generated task assignment plan.

    METHOD AND SYSTEM FOR OPTIMAL COVERAGE PATH PLANNING FOR AUTONOMOUS MOBILE DEVICES
    26.
    发明公开
    METHOD AND SYSTEM FOR OPTIMAL COVERAGE PATH PLANNING FOR AUTONOMOUS MOBILE DEVICES 审中-公开

    公开(公告)号：US20230147938A1

    公开(公告)日：2023-05-11

    申请号：US17966932

    申请日：2022-10-17

    Applicant: Rapyuta Robotics Co., Ltd. ,  TAISEI CORPORATION

    Inventor： Ayush Kumar Gaud ,  SHIGEKAZU MATSUZAKI ,  KOJI NAKATANI ,  TAKAFUMI KASHIMOTO

    IPC: G05D1/02

    CPC classification number: G05D1/0217 ,  G05D1/0214 ,  G05D1/0238 ,  G05D2201/0216

    Abstract: Embodiments of the present disclosure disclose a system and method for optimizing coverage path planning of robots. Data is received from sensors associated with robots in a region. The data is captured in a plurality of poses from a plurality of viewpoints in the region. A priority cost is assigned for each viewpoint based on: objects detected in the data and region of interest in the objects captured by the sensors in the viewpoint. Further, a set of optimal viewpoints are determined from the plurality of viewpoints using objective functions. The objective functions is based on the priority cost associated with each viewpoint and a coverage value for each corresponding viewpoint. The coverage value for a viewpoint indicates an area of the region captured by the sensors from the corresponding viewpoint. Thereafter, a coverage path is generated for the robots based at least on the set of optimal viewpoints.

    AUTONOMOUS MOBILE ROBOTS FOR COVERAGE PATH PLANNING
    27.
    发明公开
    AUTONOMOUS MOBILE ROBOTS FOR COVERAGE PATH PLANNING 审中-公开

    公开(公告)号：US20230147624A1

    公开(公告)日：2023-05-11

    申请号：US17583250

    申请日：2022-01-25

    Applicant: Rapyuta Robotics Co., Ltd. ,  Taisei Corporation

    Inventor： Ayush Kumar Gaud ,  SHIGEKAZU MATSUZAKI ,  KOJI NAKATANI ,  TAKAFUMI KASHIMOTO

    IPC: G05D1/02

    CPC classification number: G05D1/0274 ,  G05D1/0219 ,  G05D1/0238 ,  G05D1/0291

    Abstract: The disclosure generally relates to a method and a system for heterogeneous autonomous mobile robots for coverage path planning. The method may include receiving sensor data from one or more sensor devices. The sensor data includes information corresponding to one or more robots in a predefined region. The method may further include generating a map for the one or more robots based on the received sensor data. The map includes a probable occupancy of each of the plurality of cells by the one or more robots in the predefined region. The method further includes determining a set of poses of the one or more robots based on the generated map and an optimal set of poses from the set of poses based on the visibility matrix. The method may further include generating a coverage path plan for each of the one or more robots based on the determined optimal set of poses.

    AUTONOMOUS VEHICLES MANAGEMENT IN AN OPERATING ENVIRONMENT
    28.
    发明申请
    AUTONOMOUS VEHICLES MANAGEMENT IN AN OPERATING ENVIRONMENT 有权

    公开(公告)号：US20220234872A1

    公开(公告)日：2022-07-28

    申请号：US17539223

    申请日：2021-12-01

    Applicant: Rapyuta Robotics Co., Ltd.

    Inventor： Abhishek Sharma ,  Veeraj S. Khokale ,  Dale Koenig

    IPC: B66F9/06 ,  G05D1/02

    Abstract: The disclosure generally relates to method and system for autonomous vehicles management in an operating environment. The method may include sending a route plan in response to a request received by an autonomous vehicle from amongst a plurality of autonomous vehicles in an operating environment including one or more devices, wherein the one or more device comprises device or device space. The method may further include categorizing the route plan into path segments, the path segments including a first path segment including one or more nodes from the plurality of nodes being inside a device zone of the one or more devices and a second path segment including one or more nodes from the plurality of nodes being outside the device zone of the one or more devices. The method may further include determining a type of path segment from the categorized path segments for each of the node in the navigation segment and annotating the first node of the first path segment with a second precondition based on determination of a destination node from the one or more nodes and the second precondition includes performing a hard lock action of the first device for the autonomous vehicle traversing the first path segment to the destination node.

    Congestion avoidance and common resource access management for multiple robots
    29.
    发明授权
    Congestion avoidance and common resource access management for multiple robots 有权

    公开(公告)号：US11150647B2

    公开(公告)日：2021-10-19

    申请号：US16366444

    申请日：2019-03-27

    Applicant: Rapyuta Robotics Co., Ltd

    Inventor： Hendrik Skubch

    IPC: G05D1/00 ,  B65G1/137 ,  G05D1/02

    Abstract: Embodiments herein disclose methods and systems to avoid congestion in an area by a plurality of robots awaiting access to a common resource. A current robot action and a sensor data of one of the plurality of robots is received at a cloud node. Based on the received current robot action and the sensor data, a determination is made whether the one of the plurality of robots has to access the common resource. Next, a spatial query is executed at the cloud node to determine a location in the area for positioning the one of the plurality of robots awaiting access to the common resource based on a static spatial condition that requires a congestion-free movement when the robot is positioned at the location in the area. Next, based on a collaboratively determined priority order, the common resource is accessed by the one of the plurality of robots.

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