US 12,186,915 B2
Device and method for controlling one or more robots
Philipp Christian Schillinger, Renningen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Sep. 22, 2021, as Appl. No. 17/448,406.
Claims priority of application No. 10 2020 212 659.3 (DE), filed on Oct. 7, 2020; and application No. 10 2021 201 918.8 (DE), filed on Mar. 1, 2021.
Prior Publication US 2022/0105637 A1, Apr. 7, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); G06N 7/01 (2023.01)
CPC B25J 9/1682 (2013.01) [B25J 9/0084 (2013.01); G06N 7/01 (2023.01)] 13 Claims
OG exemplary drawing
 
1. A method for controlling one or more robots, comprising the following steps:
determining, for each robot of the one or more robots, a labeled Markov decision process for each skill of one or more skills which the robot is able to implement, each labeled Markov decision process having a labeling function which indicates for each state of a plurality of states of the labeled Markov decision process, whether one or more control conditions of a plurality of predetermined control conditions is able to be satisfied;
providing a control mission defined by a mission specification, the mission specification having a time sequence over a subset of the plurality of predetermined control conditions; and
controlling the one or more robots to execute the control mission in such a way that the control conditions of states of the one or more robots contained in the mission specification are satisfied, wherein:
each of the plurality of control conditions is represented by a respective atomic proposition, and
the labeling function maps the states only to atomic propositions corresponding to conditions that can be satisfied.