CPC G05D 1/0221 (2013.01) [G05D 1/0238 (2013.01); G05D 1/0274 (2013.01); G06T 7/579 (2017.01); G06T 2207/30244 (2013.01)] | 21 Claims |
1. An autonomous mobile device (AMD) comprising:
one or more sensors that acquire data about a physical space;
one or more memories storing computer-executable instructions; and
one or more processors to execute the computer-executable instructions to:
determine first data using the one or more sensors;
determine, based on the first data, second data that is representative of the AMD with respect to the physical space;
initiate exploration of the physical space, wherein the exploration comprises a first pass of the physical space and a second pass of the physical space;
determine, using the second data and a first planning algorithm, first plan data indicative of the first pass of the physical space;
perform the first pass by operating the AMD based on the first plan data;
determine third data using the one or more sensors;
determine, based on the second data and the third data, fourth data that is representative of the AMD with respect to the physical space;
determine, using the fourth data and the first planning algorithm, a first response that indicates no further plan by the first planning algorithm;
determine, using the fourth data and a second planning algorithm, second plan data indicative of the second pass of the physical space; and
perform the second pass by operating the AMD based on the second plan data.
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