US 12,440,985 B2
Representing collision exclusion relationships in robotic operating environments
Pavel Krajcevski, San Francisco, CA (US)
Assigned to Intrinsic Innovation LLC, Mountain View, CA (US)
Filed by Intrinsic Innovation LLC, Mountain View, CA (US)
Filed on Oct. 11, 2022, as Appl. No. 17/963,656.
Prior Publication US 2024/0116179 A1, Apr. 11, 2024
Int. Cl. B25J 9/16 (2006.01); G06F 9/30 (2018.01); G06F 16/22 (2019.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1671 (2013.01); G05B 2219/40317 (2013.01); G05B 2219/40476 (2013.01); G06F 9/30018 (2013.01); G06F 9/30038 (2023.08); G06F 16/2237 (2019.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining data representing a collision exclusion graph, wherein:
a plurality of nodes of the collision exclusion graph represent respective objects in a robotic operating environment, and
a plurality of edges between respective pairs of nodes of the collision exclusion graph identify collision exclusion relationships between the objects in the robotic operating environment;
identifying a plurality of cliques of the collision exclusion graph;
generating, using the identified cliques of the collision exclusion graph and for each particular object represented by a respective node of the collision exclusion graph, a bitmask representing collision exclusion relationships between the particular object and other objects in the robotic operating environment; and
simulating execution of a robotic control plan for a robot in the robotic operating environment using the generated bitmasks to detect collisions by ignoring collisions between objects having exclusion relationships represented in the bitmasks.