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. 13, 2024
Filed:
Aug. 20, 2021
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Mitsubishi Electric Corporation, Chiyoda-ku, JP;
Stefano Di Cairano, Newton, MA (US);
Ankush Chakrabarty, Bedford, MA (US);
Rien Quirynen, Somerville, MA (US);
Mohit Srinivasan, Atlanta, GA (US);
Nobuyuki Yoshikawa, Tokyo, JP;
Toshisada Mariyama, Tokyo, JP;
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A controller for controlling a motion of at least one device subject to constraints on the motion, is disclosed. The controller comprises a processor and a memory, where the controller inputs parameters of the task including the state of the at least one device to a neural network trained to output an estimated motion trajectory for performing the task. Further, the controller extracts at least some of the integer values of a solution to a mixed-integer optimization problem for planning an execution of the task that results in the estimated motion trajectory. Further, the controller solves the mixed-integer optimization problem for the parameters of the task with corresponding integer values fixed to the extracted integer values to produce an optimized motion trajectory subject to the constraint and changes the state of the at least one device to track the optimized motion trajectory.