US6836701B2 — Autonomous multi-platform robotic system

Claim 1

Independent Claim 89 words

An autonomous multi-platform robot system for performing at least one functional task in an environment, the system including: at least one functional robot platform; at least one navigator platform providing mapping, localization, planning, and control functions for itself and said at least one functional robot platform; and wherein said at least one functional robot platform senses information about the environment and communicates such information to said at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform.

Claim 2

Dependent Claim 89 words

An autonomous multi-platform robot system for performing at least one functional task in an environment, the system including: at least one functional robot platform; at least one navigator platform providing mapping, localization, planning, and control functions for itself and said at least one functional robot platform; and wherein said at least one functional robot platform senses information about the environment and communicates such information to said at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform.

Claim 3

Dependent Claim 86 words

The system as set forth in claim 1 , wherein the at least one navigator platform includes: a receiver for receiving communications, including environmental data, from the at least one functional robot platform; a controller in communication with the receiver for providing mapping, localization, planning, and control processes for the navigator platform and the at least one functional robot platform; and a transmitter in communication with the controller for transmitting control signals and other communications to the at least one functional robot platform within the environment.

Claim 4

Dependent Claim 34 words

The system as set forth in claim 2 , wherein the at least one navigator platform further includes: drive means in communication with the controller for moving the navigator platform around within the environment.

Claim 5

Dependent Claim 136 words

The system as set forth in claim 1 , wherein the at least one functional robot platform includes: a receiver for receiving control signals and other communications from the at least one navigator platform; drive means for moving the at least one functional robot platform around within the environment; at least one sensor for sensing the information about the environment that is communicated to the at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform; a controller in communication with the receiver, drive means, and sensor(s) for controlling the drive means and sensor(s) in response to control signals; and a transmitter in communication with the controller for transmitting environmental data and other communications to the at least one navigator platforms within the environment.

Claim 6

Dependent Claim 23 words

The system as set forth in claim 4 wherein the at least one functional robot platform also performs at least one functional task.

Claim 7

Dependent Claim 78 words

The system as set forth in claim 1 , further including: at least one stationary sensor platform in communication with the at least one navigator platforms for sensing information about the environment and communicating such information to the at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform; wherein the at least one stationary sensor platform is spaced from the at least one navigator platform.

Claim 8

Dependent Claim 117 words

The system as set forth in claim 6 , wherein the at least one stationary sensor platform includes: a receiver for receiving control signals and other communications from the at least one navigator platform; at least one sensor for sensing the information about the environment that is communicated to the at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform; a controller in communication with the receiver and sensor(s) for controlling the at least one sensor in response to the control signals; and a transmitter in communication with the controller for transmitting environmental data and other communications to the at least one navigator platform.

Claim 9

Dependent Claim 134 words

The system as set forth in claim 1 , wherein the at least one functional robot platform includes: a receiver for receiving control signals and other communications from the at least one navigator platform; drive means for moving the at least one functional robot platform around within the environment; at least one sensor for sensing the information about the environment that is communicated to the at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform; a controller in communication with the receiver, drive means, and sensor(s) for controlling the drive means in response to control signals; and a transmitter in communication with the controller for transmitting environmental data and other communications to the at least one navigator platform within the environment.

Claim 10

Dependent Claim 117 words

A multi-platform robot system for performing functional tasks in an environment, the system including: a functional robot platform; a navigator platform providing mapping, localization, planning, and control functions for itself and said functional robot platform; wherein the functional robot platform is in communication with the navigator platform for performing one or more functional tasks; and a stationary sensor platform in communication with the navigator platform, the functional robot platform providing control functions for said stationary sensor platform; wherein said stationary sensor platform is separate from said navigator platform and senses information about the environment and communicates such information to said navigator platform for consideration in the manning, localization, planning, and control functions provided by said navigator platform.

Claim 11

Dependent Claim 117 words

A multi-platform robot system for performing functional tasks in an environment, the system including: a functional robot platform; a navigator platform providing mapping, localization, planning, and control functions for itself and said functional robot platform; wherein the functional robot platform is in communication with the navigator platform for performing one or more functional tasks; and a stationary sensor platform in communication with the navigator platform, the functional robot platform providing control functions for said stationary sensor platform; wherein said stationary sensor platform is separate from said navigator platform and senses information about the environment and communicates such information to said navigator platform for consideration in the manning, localization, planning, and control functions provided by said navigator platform.

Claim 12

Dependent Claim 83 words

The system as set forth in claim 9 , the navigator platform including: a receiver for receiving communications, including environmental data, from the stationary sensor platform; a controller in communication with the receiver for providing mapping, localization, planning, and control processes for the navigator platform and the functional robot platform and control processes for the stationary sensor platform; and a transmitter in communication with the controller for transmitting control signals and other communications to the functional robot platform and the stationary sensor platform.

Claim 13

Dependent Claim 30 words

The system as set forth in claim 10 , the navigator platform further including: drive means in communication with the controller for moving the navigator platform around within the environment.

Claim 14

Dependent Claim 48 words

The system as set forth in claim 9 , functional robot platform including: a receiver for receiving control signals and other communications from the navigator platform within the environment; and drive means for moving the functional robot platform around within the environment in response to the control signals.

Claim 15

Dependent Claim 95 words

The system as set forth in claim 9 , stationary sensor platform including: a receiver for receiving control signals and other communications from the navigator platform within the environment; at least one sensor for sensing the information about the environment that is communicated to the navigator platform for consideration in the mapping, localization, planning, and control functions provided by the navigator platform; a controller in communication with the receiver and sensor(s) for controlling the sensor(s) in response to the control signals; and a transmitter for transmitting environmental data and other communications to the navigator platform.

Claim 16

Dependent Claim 112 words

A robot system for performing one or more functional tasks in an environment, the system including: at least one functional robot platform; and at least one navigator platform providing mapping, localization, planning, and control functions for itself and said at least one functional robot platform; wherein said at least one functional robot platform includes first means for sensing information about the environment and second means for communicating such information to said at least one navigator platform; wherein the mapping, localization, planning, and control functions provided by the at least one navigator platform are based at least in part on the information about the environment from the at least one functional robot platform.

Claim 17

Dependent Claim 112 words

A robot system for performing one or more functional tasks in an environment, the system including: at least one functional robot platform; and at least one navigator platform providing mapping, localization, planning, and control functions for itself and said at least one functional robot platform; wherein said at least one functional robot platform includes first means for sensing information about the environment and second means for communicating such information to said at least one navigator platform; wherein the mapping, localization, planning, and control functions provided by the at least one navigator platform are based at least in part on the information about the environment from the at least one functional robot platform.

Claim 18

Dependent Claim 94 words

The system as set forth in claim 14 , the at least one navigator platform including: at least one sensor for sensing information about the environment that is utilized in the mapping, localization, planning, and control functions provided by the at least one navigator platform; a controller in communication with the sensor(s) for providing mapping, localization, planning, and control processes for the navigator platform and other platforms within the environment; and a transmitter in communication with the controller for transmitting control signals and other communications to one or more other platforms within the environment.

Claim 19

Dependent Claim 59 words

The system as set forth in claim 14 , the at least one functional robot platform further including: a receiver for receiving control signals and other communications from one or more stationary navigator platforms within the environment; and drive means for moving the at least one functional robot platform around within the environment in response to the control signals.

Claim 20

Dependent Claim 138 words

The system as set forth in claim 14 , the at least one functional robot platform further including: a receiver for receiving control signals and other communications from one or more navigator platforms within the environment; drive means for moving the at least one functional robot platform around within the environment; at least one sensor for sensing the information about the environment that is communicated to the at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform; a controller in communication with the receiver, drive means, and sensor(s) for controlling the drive means and sensor(s) in response to the control signals; and a transmitter in communication with the controller for transmitting environmental data and other communications to one or more navigator platforms within the environment.

Claim 21

Dependent Claim 70 words

The system as set forth in claim 14 , further including: at least one stationary sensor platform separately spaced from the at least one navigator platform and in communication with one or more navigator platforms for sensing information about the environment and communicating such information to the at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform.

Claim 22

Dependent Claim 112 words

The system as set forth in claim 18 , the at least one stationary sensor platform including: a receiver for receiving control signals and other communications from one or more navigator platforms within the environment; at least one sensor for sensing the information about the environment that is communicated to the at least one navigator platform for consideration in the mapping, localization, planning, and control functions provided by the at least one navigator platform; a controller in communication with the receiver and sensor(s) for controlling the sensor(s) in response to the control signals; and a transmitter for transmitting environmental data and other communications to one or more navigator platforms within the environment.

Claim 23

Dependent Claim 44 words

The system as set forth in claim 14 , further including: at least one mobile navigator platform in communication with at least one other platform for providing mapping, localization, planning, and control functions for itself and at least one other platform within the environment.

Claim 24

Dependent Claim 107 words

The system as set forth in claim 20 , the mobile navigator platform including: a receiver for receiving communications from other platforms within the environment, including environmental data from at least one of one or more functional robot platforms and one or more stationary navigator platforms; drive means for moving the mobile navigator platform around within the environment; a controller in communication with the receiver and drive means for providing mapping, localization, planning, and control processes for the navigator platform and other platforms within the environment; and a transmitter in communication with the controller for transmitting control signals and other communications to other platforms within the environment.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2007-12-28	2008-06-28	2008-12-28	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2011-12-28	2012-06-28	2012-12-28	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2015-12-28	2016-06-28	2016-12-28	$7700.00	Window Closed / Lapsed

Autonomous multi-platform robotic system

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