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:
Sep. 29, 2026
Filed:
Jul. 26, 2022
Skild-fetch Llc, Pittsburgh, PA (US);
Mohamed W. Mehrez Said, Waterloo, CA;
Ardalan Tajbakhsh, Wayland, MA (US);
Skild-Fetch LLC, Pittsburgh, PA (US);
Abstract
A method includes: obtaining a facility map containing at least one obstacle and unoccupied space; partitioning the unoccupied space into a set of initial cells, each initial cell having an initial boundary containing a portion of the unoccupied space according to a proximity between the portion of the unoccupied space and the at least one obstacle; generating an intermediate map containing the at least one obstacle, a set of virtual obstacles on the initial boundaries, and remaining unoccupied space; partitioning the remaining unoccupied space into a set of updated cells, each updated cell having an updated boundary containing a portion of the remaining unoccupied space according to proximity between the portion of the remaining unoccupied space, the at least one obstacle, and the virtual obstacles; and providing the set of updated cells to a navigational controller for generation of a navigational path for a mobile apparatus.