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:
Apr. 11, 2023
Filed:
Aug. 08, 2019
Nippon Telegraph and Telephone Corporation, Tokyo, JP;
Hiroshi Kawano, Tokyo, JP;
NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo, JP;
Abstract
Provided is a control technique for achieving formation control which is applicable even when there is a non-connection location in a common portion between a set of initial positions of robot units and a set of target positions of the robot units. Each of a plurality of robots constituting a mobile robot includes a position distance calculation command transmission unit, a position distance calculation command transfer unit, a return position distance calculation command transmission unit, a direction storage unit, a return position distance calculation command transfer unit, a first head robot determination command transmission unit, a void generation order determination unit, a void generation command transfer unit, a push command transmission unit, a return push command transmission unit, a return push command transfer unit, a void operation command transmission unit, a first movement unit, a void operation command transfer unit, a movement command transmission unit, a return movement command transmission unit, a second movement unit, a pull command transmission unit, a return pull command transmission unit, a third movement unit, a control unit, a set updating unit, and a second head robot determination command transmission unit