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:
Feb. 28, 2024
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Marcus Greiff, Cambridge, MA (US);
Stefano Di Cairano, Newton, MA (US);
Himani Sinhmar, Cambridge, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A system and/or a method for controlling the movement of a vehicle in a constrained environment subject to a disturbed vehicle model including uncertainty on the dynamics governing the movement of the vehicle, collects a feedback signal indicative of a state of the vehicle and a setpoint for controlling the vehicle according to a task and determine a robust invariant set centered on the setpoint for the operation of the vehicle in an unconstrained environment using the disturbed vehicle model. The robust invariant set is inflated equally in all directions until a termination condition defined by the constraint environment is met to produce a safe invariant set enabling control of the operation of the vehicle according to the task while maintaining the state of the vehicle within the safe invariant set.