Abstract: Methods of refining a planned trajectory of an autonomous vehicle are disclose. For multiple cycles as the vehicle moves along the trajectory, the vehicle will perceive nearby objects. The vehicle will use the perceived object data to calculate a set of candidate updated trajectories. The motion planning system will measure a discrepancy between each candidate updated trajectory and the current trajectory by: (i) determining waypoints along each trajectory; (ii) determining distances between at least some of the waypoints; and (iii) using the distances to measure the discrepancy between the updated trajectory and the current trajectory. The system will use the discrepancy to select, from the set of candidate updated trajectories, a final updated trajectory for the vehicle to follow.

Abstract: A device for atomizing a liquid composition serves to treat a premises and equipment contained therein. The device is equipped with an atomizing nozzle including: a) a secondary duct (102) supplied with liquid and having an element (1) for effecting a first fractionation of the liquid inside an expansion chamber (2); b) a principle duct (101) flowed through by a gas stream and having an element (3) for effecting a second fractionation of the liquid, and; c) connecting element (5) for connecting a) and b). The nozzle can also be equipped with an ultrasonic resonator (21) and with a resonance chamber (22) situated in front of the discharge opening (4). Also disclosed is an atomizing method during which a first fractionation of the liquid is effected by suction through a first venturi (6), a second fractionation of the liquid is effected by suction into the gas stream while leaving a second venturi and, optionally, a third fractionation is effected by ultrasonic vibration.