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:
May. 17, 2022
Filed:
Nov. 28, 2018
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Milutin Pajovic, Cambridge, MA (US);
Vikrant Shah, Jamaica Plain, MA (US);
Philip Orlik, Cambridge, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A system for estimating a pose of a robot includes a particle filter to track the pose of the robot using particles that defining a probability of pose of the robot and a particle tuner to update the particles of the robot based on particles of neighboring robot. Upon receiving data indicative of relative pose between a pose of the robot and a pose of a neighboring robot, and particles of the neighboring robot, the particle tuner pairs an arbitrarily sampled particle of the robot with an arbitrarily sampled particle of the neighboring robot, determines a weight of the paired particles in reverse proportion to an error between a relative pose defined by the paired particles and the relative pose between the robot and the neighboring robot, and updates the particles of the robot in accordance to the weights of corresponding paired particles.