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. 23, 2023
Filed:
Sep. 15, 2020
Irobot Corporation, Bedford, MA (US);
Laura V. Herlant, Arlington, MA (US);
Aravindh Kuppusamy, Bedford, MA (US);
Deepak Sharma, Burlington, MA (US);
Kshitij Bichave, Bedford, MA (US);
Shao Zhou, Los Angeles, CA (US);
Cheuk Wah Wong, Concord, MA (US);
iRobot Corporation, Bedford, MA (US);
Abstract
Described herein are systems, devices, and methods for controlling a mobile cleaning robot to escape from a stuck state using a learned robot escape behavior model. The model is trained using reinforcement learning at a cloud-computing device or networked devices. A mobile cleaning robot comprises a drive system, a sensor circuit to collect sensor data associated with a detected stuck state, and a controller circuit that can receive the trained robot escape behavior model, and apply the sensor data associated with the detected stuck state to the trained robot escape behavior model to determine an escape policy. The drive system or one or more actuators of the mobile robot can remove the mobile robot from the stuck state according to the determined escape policy.