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:
Jun. 02, 2026
Filed:
Sep. 11, 2023
Aniket Shirsat, Tempe, AZ (US);
Spring Berman, Scottsdale, AZ (US);
Shatadal Mishra, Tempe, AZ (US);
Wenlong Zhang, Chandler, AZ (US);
Aniket Shirsat, Tempe, AZ (US);
Spring Berman, Scottsdale, AZ (US);
Shatadal Mishra, Tempe, AZ (US);
Wenlong Zhang, Chandler, AZ (US);
Arizona Board of Regents on Behalf of Arizona State University, Tempe, AZ (US);
Abstract
A consensus-based decentralized multi-robot approach is presented for reconstructing a discrete distribution of features, modeled as an occupancy grid map, that represent information contained in a bounded planar 2D environment, such as visual cues used for navigation or semantic labels associated with object detection. The robots explore the environment according to a random walk modeled by a discrete-time discrete-state (DTDS) Markov chain and estimate the feature distribution from their own measurements and the estimates communicated by neighboring robots, using a distributed Chernoff fusion protocol. Under this decentralized fusion protocol, each robot's feature distribution converges to the ground truth distribution in an almost sure sense.