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:
Apr. 12, 2021
Toyota Research Institute, Inc., Los Altos, CA (US);
The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US);
Boris Ivanovic, Stanford, CA (US);
Amine Elhafsi, Riverside, CA (US);
Guy Rosman, Newton, MA (US);
Adrien David Gaidon, Mountain View, CA (US);
Marco Pavone, Stanford, CA (US);
Toyota Research Institute, Inc., Los Altos, CA (US);
The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US);
Abstract
A mobile robot can be caused to move according to a planned trajectory. The mobile robot can be a vehicle. Information about agents in an environment of the mobile robot can be received from sensors. At a first time, a spatiotemporal graph can be produced. The spatiotemporal graph can represent relationships among the agents in the environment. The mobile robot can be one of the agents in the environment. Information from the spatiotemporal graph can be input to neural networks to produce information for a mixture of affine time-varying systems. The mixture of affine time-varying systems can represent an evolution of agent states of the agents. Using the mixture of affine time-varying systems and information associated with the first time, a prediction of the agent states at a second time can be calculated. The mobile robot can be caused to move according to the planned trajectory determined from the prediction.