US 12,257,719 B2
Robot planning for concurrent execution of actions
Stoyan Gaydarov, Burlingame, CA (US)
Assigned to Intrinsic Innovation LLC, Mountain View, CA (US)
Filed by Intrinsic Innovation LLC, Mountain View, CA (US)
Filed on Jun. 2, 2022, as Appl. No. 17/831,212.
Prior Publication US 2023/0390928 A1, Dec. 7, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1682 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method performed by one or more computers, the method comprising:
receiving data defining multiple skills to be performed by one or more robots in an operating environment, the multiple skills comprising a first skill and a second skill;
invoking a projection function implemented by each skill, wherein the projection function generates a skill footprint specifying resources requested for performing the skill and a volume occupied by a corresponding entity used to perform the skill;
determining that a first skill footprint generated by a first projection function implemented by the first skill is in conflict with a second skill footprint generated by a second projection function implemented by the second skill; and
in response, executing at least some of the multiple skills in sequence, comprising executing the second skill by the one or more robots after the one or more robots have completed executing the first skill.