US 11,052,540 B2
Methods and systems for complete coverage of a surface by an autonomous robot
Michael S. Stout, Rancho Palos Verdes, CA (US); Gabriel Francis Brisson, Albany, CA (US); Enrico Di Bernardo, Glendora, CA (US); Paolo Pirjanian, Pasadena, CA (US); Dhiraj Goel, Pasadena, CA (US); James Philip Case, Los Angeles, CA (US); and Michael Dooley, Pasadena, CA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Jan. 18, 2019, as Appl. No. 16/251,926.
Application 16/251,926 is a continuation of application No. 15/461,106, filed on Mar. 16, 2017, granted, now 10,583,562.
Application 15/461,106 is a continuation of application No. 14/880,610, filed on Oct. 12, 2015, granted, now 9,895,808, issued on Feb. 20, 2018.
Application 14/880,610 is a continuation of application No. 14/251,390, filed on Apr. 11, 2014, granted, now 9,188,983, issued on Nov. 17, 2015.
Application 14/251,390 is a continuation of application No. 12/940,871, filed on Nov. 5, 2010, granted, now 9,026,302, issued on May 5, 2015.
Claims priority of provisional application 61/280,678, filed on Nov. 6, 2009.
Prior Publication US 2019/0152059 A1, May 23, 2019
Int. Cl. B25J 9/16 (2006.01); G05D 1/02 (2020.01); B25J 5/00 (2006.01)
CPC B25J 9/1684 (2013.01) [B25J 5/00 (2013.01); B25J 5/005 (2013.01); B25J 5/007 (2013.01); B25J 9/163 (2013.01); G05D 1/0219 (2013.01); G05D 1/0234 (2013.01); G05D 1/0238 (2013.01); G05D 1/0255 (2013.01); G05D 1/0257 (2013.01); G05D 1/0263 (2013.01); G05D 1/0272 (2013.01); G05D 1/0274 (2013.01); G05D 2201/0203 (2013.01); G05D 2201/0208 (2013.01); G05D 2201/0215 (2013.01); Y10S 901/01 (2013.01); Y10S 901/46 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mobile robot, comprising:
a drive motor configured to move the mobile robot to traverse a surface;
one or more sensors configured to output localization data indicative of a first location of the mobile robot on the surface, wherein the first location is associated with a first region of the surface; and
a processor coupled to the drive motor and the one or more sensors, wherein the processor is configured to perform operations comprising:
determining, based on the localization data, a path to navigate the mobile robot from the first location to a portion of the first region that has not been traversed by the mobile robot; and
deferring coverage of the portion of the first region by operating the drive motor to move the mobile robot to a second location that is associated with a second region of the surface before traversing the portion of the first region based on the path that was determined.