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:
Mar. 10, 2026
Filed:
Oct. 25, 2022
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Mitsubishi Electric Corporation, Tokyo, JP;
Abraham Puthuvana Vinod, Braintree, MA (US);
Sleiman Safaoui, Dallas, AL (US);
Ankush Chakrabarty, Bedford, AL (US);
Rien Quirynen, Bedford, AL (US);
Nobuyuki Yoshikawa, Tokyo, JP;
Stefano Di Cairano, Newton, MA (US);
Abstract
The present disclosure provides a system and a method for controlling a motion of a device from an initial state to a target state in an environment having obstacles that form constraints on the motion of the device. The method includes executing a learned function trained with machine learning to generate a feasible or infeasible trajectory connecting the initial state of the device with the target state of the device while penalizing an extent of violation of at least some of the constraints to produce an initial trajectory. The method further includes solving a convex optimization problem subject to the constraints to produce an optimal trajectory that minimizes deviation from the initial trajectory and controlling the motion of the device according to the optimal trajectory.