Irobot Corporation

Benjamin Pheil

Ellen B Cargill

John P O'Brien

Douglas Dell'Accio

Flavia Pastore

Paul Schmitt

Artem Gritsenko

Daniele Tamino

Andrea M Okerholm Huttlin

Jose Luis Franco Monsalve

Yao Chen

Renaud Moser

Arman Karimian

An autonomous robot is maneuvered around a feature in an environment along a first trajectory. Data characterizing the first trajectory is stored as a trajectory landmark. The autonomous cleaning robot is maneuvered along a second trajectory. Data characterizing the second trajectory is compared to the trajectory landmark. Based on comparing the data characterizing the second trajectory to the trajectory landmark, it is determined that the first trajectory matches the second trajectory. A transform that aligns the first trajectory with the second trajectory is determined. The transform is applied to an estimate of a position of the autonomous cleaning robot as a correction of the estimate.

Trajectory-based localization and mapping

An evacuation station for collecting debris from a cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes initiating an evacuation operation such that an air mover draws air containing debris from the cleaning robot, through an intake of the evacuation station, and through a canister of the evacuation station and such that a receptacle received by the evacuation station receives at least a portion of the debris drawn from the cleaning robot. The one or more operations includes ceasing the evacuation operation in response to a pressure value being within a range. The pressure value is determined based at least in part on data indicative of an air pressure, and the range is set based at least in part on a number of evacuation operations initiated before the evacuation operation.

Control of evacuation stations

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Ontario, NY, United States of America

Benjamin Pheil