US 12,436,546 B2
Systems and methods for an autonomous mobile robot fleet coordination
Benjie Holson, Sunnyvale, CA (US); Anthony Sean Jules, Hillsborough, CA (US); Kyle Wray, Jamaica Plain, MA (US); Marina Kolmitz, Freiburg (DE); Jamie Luong, San Mateo, CA (US); Justine Rembisz, San Carlos, CA (US); Heather Klaubert, San Jose, CA (US); Rodney Allen Brooks, San Francisco, CA (US); and Leila Takayama, Palo Alto, CA (US)
Assigned to Robust AI, Inc., San Carlos, CA (US)
Filed by Robust AI, Inc., San Carlos, CA (US)
Filed on Aug. 29, 2024, as Appl. No. 18/819,180.
Application 18/819,180 is a continuation in part of application No. 18/655,609, filed on May 6, 2024.
Claims priority of provisional application 63/571,352, filed on Mar. 28, 2024.
Claims priority of provisional application 63/560,381, filed on Mar. 1, 2024.
Prior Publication US 2025/0278100 A1, Sep. 4, 2025
Int. Cl. G05D 1/69 (2024.01); G05D 1/622 (2024.01); G05D 1/667 (2024.01); G05D 1/686 (2024.01); G05D 105/20 (2024.01); G05D 107/70 (2024.01); G05D 111/10 (2024.01)
CPC G05D 1/69 (2024.01) [G05D 1/622 (2024.01); G05D 1/667 (2024.01); G05D 1/686 (2024.01); G05D 2105/20 (2024.01); G05D 2107/70 (2024.01); G05D 2111/10 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A computing system configured as a fleet controller for a plurality of autonomous mobile robots operating within a physical environment, the computing system comprising:
a communication interface configured to receive sensor data from an autonomous mobile robot of the plurality of autonomous mobile robots, the sensor data including image data captured by a plurality of visible light cameras located on the autonomous mobile robot;
an environment mapper configured to determine a global scene graph representing the physical environment based at least in part on the sensor data, the global scene graph identifying navigable regions of the physical environment;
a workflow coordinator configured to determine a workflow based on the global scene graph, the workflow including a plurality of tasks to be performed within the physical environment by the autonomous mobile robots in cooperation with a human, the plurality of tasks including autonomously following the human, wherein the autonomous mobile robot includes a handlebar and a force sensor configured to detect a translational force and a rotational force exerted on the handlebar; and
a route planner configured to determine routing information for the autonomous mobile robot, the routing information including a nominal route from a source location to a destination location, the autonomous mobile robots being configured to autonomously navigate the physical environment to execute the plurality of tasks based at least in part on the routing information when in an autonomous mode, the autonomous mobile robot including a mechanical drive unit configured to move the autonomous mobile robot in a direction determined based on the translational force and the rotational force when in a manual mode, the autonomous mobile robot being configured to autonomously enter the manual mode.