Method and apparatus for identifying or controlling travel to a rendezvous

Claim 2

A computer method of identifying at least one rendezvous state that satisfies criteria for at least one actor, the method comprising executing the following operations in a data processing device: defining a first scenario for travel to achieve a rendezvous condition; embodying said first scenario in at least one computer readable medium; defining at least one second scenario different from said first scenario for travel to achieve said rendezvous condition, embodying said at least one second scenario in at least one computer medium, forming at least respective first and second configuration space data structures based on said scenarios, said respective configuration space data structures being referred to herein as “configuration spaces” and having at least one task state in common, embodying said respective configuration spaces in at least one computer readable medium, propagating cost waves from a respective source for each configuration space, to determine costs for each configuration state corresponding to a said task state in common, embodying said costs in at least one computer readable medium, forming at least one Boolean expression defining at least one global criterion, embodying said Boolean expression in at least one computer readable median, for each said task state in common, evaluating costs of the corresponding configurations, according to said Boolean expression, to identify candidate rendezvous states, outputting from the data processing device an identification of said candidate rendezvous states.

Claim 3

The method as claimed in claim 1 , wherein the respective source for one of said configuration spaces is a starting state for said actor, and the respective source for another of said configuration spaces is a goal state.

Claim 4

The method as claimed in claim 1 , including stopping the propagation of waves when the global criterion cannot be true.

Claim 5

The method of claim 1 further comprising the step of controlling an object to move in accordance with the candidate rendezvous states.

Claim 6

The method as claimed in claim 1 , wherein said at least one actor includes a first actor and a different actor, said first scenario is defined for said first actor, said second scenario is defined for said different actor, and said rendezvous condition is simultaneous presence of said first and different actors at a same task state.

Claim 7

The method of claim 5 , wherein propagating cost waves includes applying a respective criterion for each configuration space; and said Boolean expression expresses a combination of all the respective criteria.

Claim 8

The method as claimed in claim 1 , including the step of defining a third scenario for travel from said rendezvous condition to a goal, wherein the respective source for one of said configuration spaces is a starting state for said first actor, and the respective source for another of said configuration spaces is said goal.

Claim 9

The method as claimed in claim 7 , wherein said goal is different from said starting state.

Claim 10

The method as claimed in claim 7 , wherein said propagating step comprises: a) propagating waves emanating from said starting state, b) computing metrics by measuring transitions in reverse, and c) leaving direction arrows pointing toward the start.

Claim 11

The method of claim 1 wherein the identification is user-discernable.

Claim 12

The method of claim 10 wherein the object is a displayed object.

Claim 13

The apparatus of claim 11 wherein the object is a displayed object.

Claim 14

Data processing apparatus for identifying at least one rendezvous state which satisfies criteria for at least one actor, comprising: a. at least one processor arranged to perform the following operations i. defining a first scenario, and at least one second scenario different from said first scenario, for travel to achieve a rendezvous condition, ii. forming respective configuration space data structures based on said scenarios, said data structures being referred to herein as respective configuration spaces, the respective configuration spaces having at least one task state in common, iii. propagating cost waves from a respective source for each respective configuration space, to determine costs of corresponding configuration states for each said task state in common, iv. forming at least one Boolean expression defining at least one global criterion, v. evaluating, for each said task state in common, said Boolean expression to identify candidate rendezvous states, b. at least one medium readable by said processor and embodying said first and at least one second scenarios, said respective configuration spaces, said costs, and said expression; and c. output means connected to the computer for providing an identification of said candidate rendezvous states.

Claim 15

Data processing apparatus for identifying at least one rendezvous state which satisfies criteria for at least one actor, comprising: a. at least one processor arranged to perform the following operations i. defining a first scenario, and at least one second scenario different from said first scenario, for travel to achieve a rendezvous condition, ii. forming respective configuration space data structures based on said scenarios, said data structures being referred to herein as respective configuration spaces, the respective configuration spaces having at least one task state in common, iii. propagating cost waves from a respective source for each respective configuration space, to determine costs of corresponding configuration states for each said task state in common, iv. forming at least one Boolean expression defining at least one global criterion, v. evaluating, for each said task state in common, said Boolean expression to identify candidate rendezvous states, b. at least one medium readable by said processor and embodying said first and at least one second scenarios, said respective configuration spaces, said costs, and said expression; and c. output means connected to the computer for providing an identification of said candidate rendezvous states.

Claim 16

The apparatus as claimed in claim 13 , wherein the respective source for one of said configuration spaces is a starting state for said actor, and the respective source for another of said configuration spaces is a goal state.

Claim 17

The apparatus as claimed in claim 13 , wherein the processor is further arranged for stopping the propagation of waves when the global criterion cannot be true.

Claim 18

The apparatus of claim 13 further wherein the processor is further arranged effect movement of an object in accordance with the candidate rendezvous states.

Claim 19

The apparatus as claimed in claim 13 , wherein said at least one actor includes a first actor and a different actor, said first scenario is defined for said first actor, said second scenario is defined for said different actor, and said rendezvous condition is simultaneous presence of said first and different actors at a same configuration state.

Claim 20

The apparatus of claim 17 , wherein propagating cost waves includes applying a respective criterion for each configuration space; and said Boolean expression expresses a combination of all the respective criteria.

Claim 21

The apparatus as claimed in claim 17 , wherein said processor is further arranged for defining a third scenario for travel from said rendezvous condition to a goal, wherein the respective source for one of said configuration spaces is a starting state for said first actor, and the respective source for another of said configuration spaces is said goal.

Claim 22

The apparatus as claimed in claim 19 , wherein said goal is different from said starting state.

Claim 23

The apparatus as claimed in claim 19 , wherein propagating comprises: a) propagating waves emanating from said starting state, b) computing metrics by measuring transitions in reverse, and c) leaving direction arrows pointing toward the start.

Claim 24

Data processing apparatus for controlling travel of at least first and second actors to a rendezvous, comprising: a. at least one processor arranged to perform the following operations i. defining a first scenario associated with a first one of the actors, and at least one second scenario associated with at least one other of the actors and different from said first scenario, for travel to achieve a rendezvous condition, ii. forming respective configuration space data structures based on said scenarios, said respective data structures being referred to herein as respective configuration spaces, said respective configuration spaces having at least one task state in common, iii. propagating cost waves from a respective source for each configuration space, to determine costs for configuration states corresponding to each said task state in common, iv. forming at least one Boolean expression defining at least one global criterion, v. evaluating said Boolean expression, for each configuration state corresponding to a rendezvous task state in common, to identify candidate rendezvous states, vi. selecting one of said candidate rendezvous states, vii. determining a respective optimum path for each of said actors to the selected rendezvous state, based on said costs, and b. at least one medium readable by said processor and embodying said scenarios, said respective configuration spaces, said costs and said Boolean expression; and c. output means connected to the processor for providing respective travel control signals to said actors to follow the respective optimum paths.

Claim 25

Data processing apparatus for controlling travel of at least first and second actors to a rendezvous, comprising: a. at least one processor arranged to perform the following operations i. defining a first scenario associated with a first one of the actors, and at least one second scenario associated with at least one other of the actors and different from said first scenario, for travel to achieve a rendezvous condition, ii. forming respective configuration space data structures based on said scenarios, said respective data structures being referred to herein as respective configuration spaces, said respective configuration spaces having at least one task state in common, iii. propagating cost waves from a respective source for each configuration space, to determine costs for configuration states corresponding to each said task state in common, iv. forming at least one Boolean expression defining at least one global criterion, v. evaluating said Boolean expression, for each configuration state corresponding to a rendezvous task state in common, to identify candidate rendezvous states, vi. selecting one of said candidate rendezvous states, vii. determining a respective optimum path for each of said actors to the selected rendezvous state, based on said costs, and b. at least one medium readable by said processor and embodying said scenarios, said respective configuration spaces, said costs and said Boolean expression; and c. output means connected to the processor for providing respective travel control signals to said actors to follow the respective optimum paths.

Claim 26

The apparatus as claimed in claim 22 , wherein the respective source for one of said configuration spaces is a starting state, and the respective source for another of said configuration spaces is a goal state.

Claim 27

The apparatus of claim 22 wherein the one of said actors is a displayed actor.

Claim 28

The apparatus of claim 22 , wherein propagating cost waves includes applying a respective criterion for each configuration space; and said Boolean expression expresses a combination of all the respective criteria.

Claim 29

The apparatus as claimed in claim 22 , wherein said first scenario is defined for the first actor, said second scenario is defined for the second actor, and said rendezvous condition is simultaneous presence of said first and second actors at a same configuration state.

Claim 30

The apparatus as claimed in claim 26 , wherein the processor is further arranged for defining a third scenario for travel from said rendezvous condition to a goal, the respective source for one of said configuration spaces is a starting state for said first actor, and the respective source for another of said configuration spaces is said goal, and said output means further provides travel control signals to one of said actors for travel from said rendezvous condition to said goal.

Claim 31

The apparatus of claim 22 wherein the output means comprises at least one controller for controlling movement of one of said actors.

Claim 32

The apparatus as claimed in claim 22 , wherein one of said actors is a robot, and said controller controls movement of said robot.