The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 25, 2020
Filed:
May. 03, 2016
Commissariat a L'energie Atomique ET Aux Energies Alternatives, Paris, FR;
Abstract
A method controlling movement of an agent moving within an environment represented by a directed graph including vertices located at a border of an unknown portion of the environment, includes: guiding the moving agent via execution of at least one iteration of following successive operations: planning a path towards a destination vertex or border vertex, via a progressively increasing evaluation of a first heuristic of cost; controlling navigation of the agent towards the destination or border vertex returned by the planning; controlling an exploration in the unknown portion if the planning returns a border vertex as the destination. The planning includes, for each calculation of the first cost heuristic for a border vertex, calculation of a second heuristic of risk. The method provides, as the destination, the border vertex with lowest calculated heuristic risk evaluation as soon as the cost exceeds this heuristic risk evaluation before reaching the destination vertex.