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. 30, 2026
Filed:
May. 10, 2022
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Rien Quirynen, Somerville, MA (US);
Ankush Chakrabarty, Bedford, MA (US);
Stefano Di Cairano, Newton, MA (US);
Abhishek Cauligi, Mountain View, CA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A controller uses a motion trajectory for controlling a motion of a device to perform a task subject to constraints. The controller evaluates a parametric function to output predicted values for a set of discrete variables in a mixed-integer convex programming (MICP) problem for performing the task defined by the parameters. The controller fixes a first subset of discrete variables in the MICP to the predicted values outputted by the trained parametric function and updates at least some of the predicted values of a remaining subset of discrete variables to values are uniquely defined by the fixed values for the first subset of discrete variables and the constraints. Hence, the controller transforms the MICP into a convex programming (CP) problem, solves the CP problem subject to the constraints to produce a feasible motion trajectory, and controls the device according to the motion trajectory.