Intrinsic Innovation LLC

Google Inc.

X Development LLC

Ytai Ben-Tsvi

Kyle Brookes

Kendra Byrne

Michael Beardsworth

Marek Piotr Michalowski

Eli Reekmans

Ryan Butterfoss

Stoyan Gaydarov

Ian Eldred Pudney

Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for scheduling resource-constrained actions. In some implementations, data indicating a set of tasks to be performed by a group of multiple robots is received. A set of candidate plan elements is determined for each task in the set of tasks. A constraint profile for each of the candidate plan elements is generated, where each of the constraint profiles indicates a constraint to be satisfied in order to carry out the corresponding candidate plan element. Plan elements configured to perform each of the tasks in the set of tasks are selected based on the constraint profiles, and assembled into a schedule according to optimization criteria. This schedule can be used to perform tasks, and the schedule may account for variability in timing without failure.

Scheduling resource-constrained actions

Systems, methods, devices, and other techniques for a dynamic fabrication system. In some implementations, a computing system obtains a digital model of a physical structure. A fabrication plan for the physical structure is generated. The fabrication plan is provided to a fabrication system to execute the automated fabrication procedure according to the fabrication plan. A set of operations are performed for each of at least a subset of tasks from a set of tasks executed by the fabrication system during an automated fabrication procedure to identify an adjusted fabrication plan. The fabrication system is directed to continue execution of the automated fabrication procedure according to the adjusted fabrication plan.

Dynamic fabrication engine

Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.

Planning and adapting projects based on a buildability analysis

Systems, methods, devices, and other techniques for planning and re-planning robot motions. The techniques can include obtaining a schedule that defines an execution order for a plurality of plans, each plan defining a sequence of tasks; providing instructions to the robotic system to execute plans from the plurality of plans according to the schedule; obtaining measurements for one or more parameters that represent a state of the robotic system or its environment that results from execution of at least one plan from the plurality of plans; determining, based on the measurements, that a particular plan from the plurality of plans, which has not completed execution, is to be revised; generating, using the measurements, a revised version of the particular plan; and adjusting the schedule so as to resolve a conflict between the revised version of the particular plan and at least one other plan in the plurality of plans.

Local replanning of robot movements

A system for terminating flight of a balloon having a balloon envelope is provided. The system includes an apparatus attached to the balloon. The apparatus includes a flexible tube that has first and second ends with a hollow tube portion disposed there between and a device attached to the flexible tube. The first end of the tube is sealed around a preconfigured opening in a balloon envelope and the second end is sealed shut. The device includes a main body that has an opening holding an actuating member that has a cavity and a cutting element. The cavity is arranged to hold at least a portion of the flexible tube. When activated, the device causes contact between the actuating member and the cutting element so as to cut open the partial portion of the flexible tube for allowing lift gas to escape the balloon envelope through the hollow tube portion.

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Sunnyvale, CA, United States of America

Ytai Ben-Tsvi