Patents by Inventor Daniel Sorin
Daniel Sorin has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11970161Abstract: A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.Type: GrantFiled: February 28, 2022Date of Patent: April 30, 2024Assignees: DUKE UNIVERSITY, BROWN UNIVERSITYInventors: Daniel Sorin, William Floyd-Jones, Sean Murray, George Konidaris, William Walker
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Patent number: 11964393Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.Type: GrantFiled: July 12, 2023Date of Patent: April 23, 2024Assignee: REALTIME ROBOTICS, INC.Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones, Peter Howard, Xianchao Long
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Publication number: 20230356400Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.Type: ApplicationFiled: July 17, 2023Publication date: November 9, 2023Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones
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Publication number: 20230347520Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.Type: ApplicationFiled: July 12, 2023Publication date: November 2, 2023Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones, Peter Howard, Xianchao Long
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Publication number: 20230347519Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.Type: ApplicationFiled: July 12, 2023Publication date: November 2, 2023Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones, Peter Howard, Xianchao Long
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Patent number: 11745346Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.Type: GrantFiled: November 22, 2021Date of Patent: September 5, 2023Assignee: REALTIME ROBOTICS, INC.Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones
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Patent number: 11738457Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.Type: GrantFiled: March 19, 2019Date of Patent: August 29, 2023Assignee: REALTIME ROBOTICS, INC.Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones, Peter Howard, Xianchao Long
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Publication number: 20220176951Abstract: A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.Type: ApplicationFiled: February 28, 2022Publication date: June 9, 2022Inventors: Daniel SORIN, William FLOYD-JONES, Sean MURRAY, George KONIDARIS, William WALKER
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Patent number: 11292456Abstract: A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.Type: GrantFiled: January 4, 2019Date of Patent: April 5, 2022Assignees: DUKE UNIVERSITY, BROWN UNIVERSITYInventors: Daniel Sorin, William Floyd-Jones, Sean Murray, George Konidaris, William Walker
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Publication number: 20220080594Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.Type: ApplicationFiled: November 22, 2021Publication date: March 17, 2022Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones
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APPARATUS, METHOD AND ARTICLE TO FACILITATE MOTION PLANNING IN AN ENVIRONMENT HAVING DYNAMIC OBJECTS
Publication number: 20220057803Abstract: A motion planner of a computer system of a primary agent, e.g., an autonomous vehicle, uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the primary agent prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the primary agent, the system sets a probability of collision with another agent, e.g., a dynamic object, in the environment based at least in part on the collision assessment. Depending on whether the goal of the primary agent is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively low or relatively high potential of a collision with the particular dynamic object. The system then causes the actuator system of the primary agent to implement a motion plan with the applicable identified path based at least in part on the optimization.Type: ApplicationFiled: December 4, 2019Publication date: February 24, 2022Inventors: Daniel SORIN, William FLOYD-JONES, Sean MURRAY, George KONIDARIS, William WALKER -
Patent number: 11235465Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.Type: GrantFiled: February 5, 2019Date of Patent: February 1, 2022Assignee: REALTIME ROBOTICS, INC.Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones
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Publication number: 20210023706Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.Type: ApplicationFiled: March 19, 2019Publication date: January 28, 2021Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones, Peter Howard, Xianchao Long
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Publication number: 20190240835Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change.Type: ApplicationFiled: February 5, 2019Publication date: August 8, 2019Inventors: Daniel Sorin, George Konidaris, Sean Murray, William Floyd-Jones
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Publication number: 20190217857Abstract: A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.Type: ApplicationFiled: January 4, 2019Publication date: July 18, 2019Inventors: Daniel SORIN, William FLOYD-JONES, Sean MURRAY, George KONIDARIS, William WALKER
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Patent number: 9703626Abstract: A mechanism for recycling error bits in a floating point unit is disclosed. A system of the disclosure includes a memory and a processing device communicably coupled to the memory. In one embodiment, the processing device comprising a floating point unit (FPU) to generate a result value from applying an operation on floating point number inputs to the FPU and generate an error value using the result value. The FPU also writes the result value to a first register of the processing device dedicated to storing results from the operation of the FPU and writes the error value to a second register of the processing device dedicated to storing errors from the operation of the FPU. The second register is separate from the first register.Type: GrantFiled: May 9, 2016Date of Patent: July 11, 2017Assignees: Intel Corporation, Duke UniversityInventors: Shih-Lien L. Lu, Helia Naeimi, Ralph Nathan, Daniel Sorin
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Publication number: 20160253235Abstract: A mechanism for recycling error bits in a floating point unit is disclosed. A system of the disclosure includes a memory and a processing device communicably coupled to the memory. In one embodiment, the processing device comprising a floating point unit (FPU) to generate a result value from applying an operation on floating point number inputs to the FPU and generate an error value using the result value. The FPU also writes the result value to a first register of the processing device dedicated to storing results from the operation of the FPU and writes the error value to a second register of the processing device dedicated to storing errors from the operation of the FPU. The second register is separate from the first register.Type: ApplicationFiled: May 9, 2016Publication date: September 1, 2016Inventors: Shih-Lien L. Lu, Helia Naeimi, Ralph Nathan, Daniel Sorin
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Patent number: 9335996Abstract: A mechanism for recycling error bits in a floating point unit is disclosed. A system of the disclosure includes a memory and a processing device communicably coupled to the memory. In one embodiment, the processing device comprising a floating point unit (FPU) to generate a result value from applying an operation on floating point number inputs to the FPU and generate an error value using the result value. The FPU also writes the result value to a first register of the processing device dedicated to storing results from the operation of the FPU and writes the error value to a second register of the processing device dedicated to storing errors from the operation of the FPU.Type: GrantFiled: November 14, 2012Date of Patent: May 10, 2016Assignee: Intel CorporationInventors: Helia Naeimi, Ralph Nathan, Daniel Sorin, Shih-Lien L. Lu
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Publication number: 20140136820Abstract: A mechanism for recycling error bits in a floating point unit is disclosed. A system of the disclosure includes a memory and a processing device communicably coupled to the memory. In one embodiment, the processing device comprising a floating point unit (FPU) to generate a result value from applying an operation on floating point number inputs to the FPU and generate an error value using the result value. The FPU also writes the result value to a first register of the processing device dedicated to storing results from the operation of the FPU and writes the error value to a second register of the processing device dedicated to storing errors from the operation of the FPU.Type: ApplicationFiled: November 14, 2012Publication date: May 15, 2014Inventors: Helia Naeimi, Ralph Nathan, Daniel Sorin, Shih-Lien L. Lu
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Publication number: 20060101303Abstract: A level of indirection is utilized when writing to a microprocessor array structure, thereby masking hard faults in the array structure. Among other benefits, this minimizes the use of a backward error recovery mechanism with its inherent delay for recovery. The indirection is used to effectively remove from use faulty portions of the array structure and substitute spare, functioning portions to perform the duties of the faulty portions. Thus, for example, faulty rows in microprocessor array structures are mapped out in favor of substitute, functioning rows.Type: ApplicationFiled: October 22, 2004Publication date: May 11, 2006Applicant: International Business Machines CorporationInventors: Fred Bower, Sule Ozev, Paul Shealy, Daniel Sorin