Amazon Technologies, Inc.

Rajasimman Madhivanan

Edward James Gayles

Zaka Ur Rehman Ashraf

Samuel Scott Gigliotti

Abraham Martin Passaglia

Nadir Kiyanclar

Ruoruo Zhang

John Lawrence Miller

Brett Nathan Lynnes

Roger Robert Webster

Jong Jin Park

Chang Young Kim

Madan Jayaprakasam

Andrew Jay Roths

Heidi Christine Schubert

James Charles Zamiska

Mohit Deshpande

Jason Anthony Mobarak

Martin D Hock

Nathalie Majcherczyk

Madhav Achar

Dhruva Kumar

Brett N Lynnes

John L Miller

Maps of a physical space provide information to an autonomous mobile device (AMD) about the location of objects. For example, a local map may represent objects currently detected while a global map represents objects that persist over time. Disagreements between the maps may result from quantization errors, sensor errors, changes in the physical space over time that are shown in one map but not another, and so forth. For example, the local map may indicate an obstacle in a space that the global map indicates is empty, or vice versa. A cluster representing an object in a map may be assessed to distinguish if the object is actual or false. Other techniques may be used to determine disagreements. Information about persistent disagreements may be stored for mitigation. The AMD may mitigate disagreements by exploring the physical space associated with the disagreement to add to map data.

System to determine map data for autonomous mobile device map

Describe herein are techniques for providing cloud-based discovery. For example, a device may be configured to provide device registration and de-registration notifications to a cloud-based discovery service. The cloud-based discovery service may be configured to respond to discovery request by identifying registered devices that meet the criteria of the discovery request. The cloud-based discovery service may also be configured to provide endpoint information associated with registered devices in response to the discovery request, such that a device is able to utilize the endpoint information to connect with one or more of the registered devices.

Cloud-based device discovery

An autonomous mobile device (AMD) may move around a physical space to perform tasks. The AMD may explore the physical space to determine map data characterizing the physical space. An exploration system maintains a world snapshot that is representative of the AMD with respect to the physical space. A plurality of planning algorithm modules are available, each able to achieve a particular exploration goal or operate under particular conditions such as initial motion, loop closure, frontier exploration, and so forth. One or more planning algorithms are selected and provided with the world snapshot data. These planning algorithms provide responses and may also determine plan data. The resulting plan data is then selected for execution. The execution of the selected plan data operates the AMD to explore the physical space.

System for planning exploration by autonomous mobile device

An autonomous mobile device (AMD) moves through a physical space without human intervention. Data from sensors on the AMD are used to determine an occupancy map indicative of obstacles and their locations in the physical space. A navigation map is created from the occupancy map by inflating the apparent size of the obstacles indicated by the occupancy map. In one implementation the inflation process dynamically skips some portions of the occupancy map based on the presence of an obstacle and a designated inflation distance. The extent of the inflation is based on a size of the AMD. The navigation map is then used for path planning.

System for obstacle avoidance by autonomous mobile device

A robot comprises a plurality of sensors on a mobile chassis and may move about an environment in which people may be expected to follow particular cultural conventions. Movement of the robot may be constrained to honor these cultural conventions that are appropriate for the people in the environment. For example, when the robot is used within the United States, the robot tends to move along the right-hand side of a hallway. In comparison, when the robot is used within Japan the robot tends to move along the left-hand side of the hallway. The cultural conventions may be implemented as one-way gates present at specified locations in an occupancy map of the environment. The gates have no physical presence in the environment, but have the effect of placing a constraint on where the robot is permitted to move.

System for robot movement that is informed by cultural conventions

An autonomous mobile device (AMD) uses sensors to explore a physical space and determine a map indicating the locations of obstacles. As data is later acquired, the map may be updated, resulting in changes to previously mapped obstacle positions. Navigability tests determine if a path can be found between a current location and a previously visited location. A failure to find a path may result in exploration of an area that includes the previously visited location. Submaps may be produced by the AMD as it moves through the physical space. An accuracy score of a selected submap is determined by comparing the selected submap with a partial global map created using submaps other than the selected submap. If the accuracy score is less than a threshold value, the selected submap may be discarded and an area in the physical space associated with the selected submap may be re-explored.

System for assessing an autonomously determined map

Various examples are directed to systems and methods for establishing a secure, authenticated connection between devices utilizing a password authenticated key exchange. A client may send an encrypted connection request message to a server via a first communication medium. The server may send the client first data token data via a first communication medium. The client may encrypt the first data token with a password-authenticated key, for example, obtained in a password authenticated key exchange with the server. The client may encrypt the first token data based at least in part on the password-authenticated key to generate a message authentication code (MAC). The client may send the MAC to the server.

Authenticated communication between devices

A user device determines a reading speed value for each of a plurality of measurable units of an electronic publication. The user device adds each reading speed value into one of a plurality of data sets or one of a plurality of outlier sets. The user device calculates the average reading speed of the user based on one or more of the plurality of data sets.

Determining the average reading speed of a user

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Sunnyvale, CA, United States of America

Rajasimman Madhivanan