Patents by Inventor Javier Alonso Mora
Javier Alonso Mora 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: 11884302Abstract: Understanding the intent of human drivers and adapting to their driving styles is used to increased efficiency and safety of autonomous vehicles (AVs) by enabling them to behave in safe and predictable ways without requiring explicit inter-vehicle communication. A Social Value Orientation (SVO), which quantifies the degree of an agent's selfishness or altruism, is estimated by the AV for other vehicles to better predict how they will interact and cooperate with others. Interactions between agents are modeled as a best response game wherein each agent negotiates to maximize their own utility. A dynamic game solution uses the Nash equilibrium, yielding an online method of predicting multi-agent interactions given their SVOs. This approach allows autonomous vehicles to observe human drivers, estimate their SVOs, and generate an autonomous control policy in real time.Type: GrantFiled: November 16, 2020Date of Patent: January 30, 2024Assignee: Massachusetts Institute of TechnologyInventors: Daniela Rus, Sertac Karaman, Javier Alonso Mora, Alyssa Pierson, Wilko Schwarting
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Patent number: 11619951Abstract: Described is a method and system for vehicle routing and request assignment which incorporates a prediction of future demand. The method seamlessly integrates sampled future requests into request assignments and vehicle routing.Type: GrantFiled: March 30, 2018Date of Patent: April 4, 2023Assignee: MASSACHUSETTS INSTITUTE OF TECHNOLOGYInventors: Javier Alonso-Mora, Daniela L. Rus, Alexander J. Wallar
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Patent number: 11614751Abstract: Described are concepts, systems, devices and techniques for real-time high-capacity ride-sharing that (i) scales to large numbers of passengers and trips and (ii) dynamically generates routes (e.g. optimal or near optimal routes) in response to online demand and vehicle locations.Type: GrantFiled: January 23, 2018Date of Patent: March 28, 2023Assignee: Massachusetts Institute of TechnologyInventors: Javier Alonso-Mora, Samitha Samaranayake, Alexander J. Wallar, Daniela L. Rus
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Publication number: 20210146964Abstract: Understanding the intent of human drivers and adapting to their driving styles is used to increased efficiency and safety of autonomous vehicles (AVs) by enabling them to behave in safe and predictable ways without requiring explicit inter-vehicle communication. A Social Value Orientation (SVO), which quantifies the degree of an agent's selfishness or altruism, is estimated by the AV for other vehicles to better predict how they will interact and cooperate with others. Interactions between agents are modeled as a best response game wherein each agent negotiates to maximize their own utility. A dynamic game solution uses the Nash equilibrium, yielding an online method of predicting multi-agent interactions given their SVOs. This approach allows autonomous vehicles to observe human drivers, estimate their SVOs, and generate an autonomous control policy in real time.Type: ApplicationFiled: November 16, 2020Publication date: May 20, 2021Inventors: Daniela Rus, Sertac Karaman, Javier Alonso Mora, Alyssa Pierson, Wilko Schwarting
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Patent number: 10484670Abstract: An omnidirectional camera apparatus configured to facilitate omnidirectional stereo imaging is described. The apparatus may include a first convex mirror, a first camera disposed at the first convex mirror, a second convex mirror, and a second camera disposed at the second convex mirror. The first convex mirror and the second convex mirror may be arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror may face each other. The first camera may capture imagery reflected off the second convex mirror. The second camera may capture imagery reflected off the first convex mirror. A method of calibrating an omnidirectional camera apparatus is also described.Type: GrantFiled: March 2, 2018Date of Patent: November 19, 2019Assignees: Disney Enterprises, Inc., ETH ZürichInventors: Paul Beardsley, Javier Alonso Mora
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Publication number: 20180231984Abstract: Described are concepts, systems, devices and techniques for real-time high-capacity ride-sharing that (i) scales to large numbers of passengers and trips and (ii) dynamically generates routes (e.g. optimal or near optimal routes) in response to online demand and vehicle locations.Type: ApplicationFiled: January 23, 2018Publication date: August 16, 2018Inventors: Javier Alonso-Mora, Samitha Samaranayake, Alexander J. Wallar, Daniela L. Rus
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Publication number: 20180224866Abstract: Described is a method and system for vehicle routing and request assignment which incorporates a prediction of future demand. The method seamlessly integrates sampled future requests into request assignments and vehicle routing.Type: ApplicationFiled: March 30, 2018Publication date: August 9, 2018Inventors: Javier ALONSO-MORA, Daniela L. RUS, Alexander J. WALLAR
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Publication number: 20180192036Abstract: An omnidirectional camera apparatus configured to facilitate omnidirectional stereo imaging is described. The apparatus may include a first convex mirror, a first camera disposed at the first convex mirror, a second convex mirror, and a second camera disposed at the second convex mirror. The first convex mirror and the second convex mirror may be arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror may face each other. The first camera may capture imagery reflected off the second convex mirror. The second camera may capture imagery reflected off the first convex mirror. A method of calibrating an omnidirectional camera apparatus is also described.Type: ApplicationFiled: March 2, 2018Publication date: July 5, 2018Inventors: Paul Beardsley, Javier Alonso Mora
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Patent number: 9992482Abstract: An omnidirectional camera apparatus configured to facilitate omnidirectional stereo imaging is described. The apparatus may include a first convex mirror, a first camera disposed at the first convex mirror, a second convex mirror, and a second camera disposed at the second convex mirror. The first convex mirror and the second convex mirror may be arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror may face each other. The first camera may capture imagery reflected off the second convex mirror. The second camera may capture imagery reflected off the first convex mirror. A method of calibrating an omnidirectional camera apparatus is also described.Type: GrantFiled: August 28, 2015Date of Patent: June 5, 2018Assignees: Disney Enterprises, Inc., ETH ZÜRICHInventors: Paul Beardsley, Javier Alonso Mora
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Publication number: 20170064290Abstract: An omnidirectional camera apparatus configured to facilitate omnidirectional stereo imaging is described. The apparatus may include a first convex mirror, a first camera disposed at the first convex mirror, a second convex mirror, and a second camera disposed at the second convex mirror. The first convex mirror and the second convex mirror may be arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror may face each other. The first camera may capture imagery reflected off the second convex mirror. The second camera may capture imagery reflected off the first convex mirror. A method of calibrating an omnidirectional camera apparatus is also described.Type: ApplicationFiled: August 28, 2015Publication date: March 2, 2017Inventors: Paul Beardsley, Javier Alonso Mora
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Patent number: 9573701Abstract: A method of docking and recharging using a base station and a station-mating frame on the multicopter. The base station includes an upward-facing camera that is used by a docking controller to detect the presence, position, and orientation of a frame, with infrared light-emitting diodes arranged in a predefined pattern. The controller of the base station acts to emit wireless signals to the multicopter to guide the multicopter with its station-mating frame to a predefined position above the base station. The controller transmits a wireless signal to the multicopter to reduce thrust, and the multicopter lowers itself onto a sloped receiving surface that may be arranged in a crown pattern to provide passive gravity-driven centering, which causes the station-mating frame to slide to a lowest vertical point of the receiving assembly. A locking mechanism engages to lock the frame in place and provide electrical contact for recharging.Type: GrantFiled: August 6, 2014Date of Patent: February 21, 2017Assignee: Disney Enterprises, Inc.Inventors: Paul A. Beardsley, Michael Eriksson, Javier Alonso-Mora, Joern Rehder
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Publication number: 20160039541Abstract: A method of docking and recharging using a base station and a station-mating frame on the multicopter. The base station includes an upward-facing camera that is used by a docking controller to detect the presence, position, and orientation of a frame, with infrared light-emitting diodes arranged in a predefined pattern. The controller of the base station acts to emit wireless signals to the multicopter to guide the multicopter with its station-mating frame to a predefined position above the base station. The controller transmits a wireless signal to the multicopter to reduce thrust, and the multicopter lowers itself onto a sloped receiving surface that may be arranged in a crown pattern to provide passive gravity-driven centering, which causes the station-mating frame to slide to a lowest vertical point of the receiving assembly. A locking mechanism engages to lock the frame in place and provide electrical contact for recharging.Type: ApplicationFiled: August 6, 2014Publication date: February 11, 2016Applicant: DISNEY ENTERPRISES, INC.Inventors: PAUL A. BEARDSLEY, MICHAEL ERIKSSON, JAVIER ALONSO-MORA, JOERN REHDER
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Patent number: 9216745Abstract: A method for providing shared control over movement of a vehicle within a space. The method includes receiving user input related to a velocity and a direction for the vehicle within the space. The method includes processing the user input to selectively adjust the velocity and the direction desired by the user based on a set of predefined constraints to generate a trajectory for the vehicle for an upcoming time period. The method includes operating drive mechanisms in the vehicle based on the trajectory to move the vehicle from a first position to a second position within the space during the upcoming time period. A grid map defining locations of obstacles in the space may be used to define the trajectory to avoid collisions, and a guidance trajectory may be used to further control movement to achieve a desired throughput and control vehicle movement within particular portions of the space.Type: GrantFiled: August 12, 2014Date of Patent: December 22, 2015Assignee: DISNEY ENTERPRISES, INC.Inventors: Paul A. Beardsley, Scott Frazier Watson, Javier Alonso-Mora
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Publication number: 20150284010Abstract: A method for providing shared control over movement of a vehicle within a space. The method includes receiving user input related to a velocity and a direction for the vehicle within the space. The method includes processing the user input to selectively adjust the velocity and the direction desired by the user based on a set of predefined constraints to generate a trajectory for the vehicle for an upcoming time period. The method includes operating drive mechanisms in the vehicle based on the trajectory to move the vehicle from a first position to a second position within the space during the upcoming time period. A grid map defining locations of obstacles in the space may be used to define the trajectory to avoid collisions, and a guidance trajectory may be used to further control movement to achieve a desired throughput and control vehicle movement within particular portions of the space.Type: ApplicationFiled: August 12, 2014Publication date: October 8, 2015Applicant: DISNEY ENTERPRISES, INC.Inventors: PAUL A. BEARDSLEY, SCOTT FRAZIER WATSON, JAVIER ALONSO-MORA
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Patent number: 9082233Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.Type: GrantFiled: March 5, 2014Date of Patent: July 14, 2015Assignees: Disney Enterprises, Inc., ETH ZURICH (EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZURICH)Inventors: Paul Beardsley, Javier Alonso Mora, Andreas Breitenmoser, Martin Rufli, Roland Siegwart, Iain Matthews, Katsu Yamane
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Patent number: 9067320Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of a real-world video texture. Mobile robots with controllable color may generate visual representations of the real-world video texture to create an effect like fire, sunlight on water, leaves fluttering in sunlight, a wheat field swaying in the wind, crowd flow in a busy city, and clouds in the sky. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic and holonomic robots to guarantee smooth and collision-free motions.Type: GrantFiled: April 27, 2012Date of Patent: June 30, 2015Assignee: Disney Enterprises, Inc.Inventors: Paul Beardsley, Javier Alonso Mora, Andreas Breitenmoser, Federico Perazzi, Alexander Hornung
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Publication number: 20150078620Abstract: Provided is an aircraft having a spherical body which generates buoyancy or which may generate buoyancy when filled with gas, wherein the aircraft further comprises four actuation units arranged on the surface of the body for movement of the aircraft in a translation and/or rotation through air, and at least one camera arranged on or in the surface of the body. Further provided is a method for providing optical information to a person in the environment of a flying aircraft, a method for providing optical information about an object and/or surveying of an object, a method for transmission of acoustic information and a method for observing or tracking an object.Type: ApplicationFiled: April 19, 2013Publication date: March 19, 2015Applicant: ETH ZurichInventors: Anton Ledergerber, Andreas Schaffner, Claudio Ruch, Daniel Meier, Johannes Weichart, Lukas Gasser, Luca Muri, Miro Kach, Matthias Krebs, Matthias Burri, Lukas Mosimann, Nicolas Vuilliomenet, Randy Michaud, Simon Laube, Paul Beardsley, Javier Alonso Mora, Roland Yves Siegwart, Stefan Leutenegger, Konrad Rudin
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Publication number: 20140292770Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.Type: ApplicationFiled: March 5, 2014Publication date: October 2, 2014Applicant: Disney Enterprises, Inc.Inventors: Paul BEARDSLEY, Javier ALONSO MORA, Andreas BREITENMOSER, Martin RUFLI, Roland SIEGWART, Iain MATTHEWS, Katsu YAMANE
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Patent number: 8723872Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.Type: GrantFiled: June 8, 2011Date of Patent: May 13, 2014Assignee: Disney Enterprises, Inc.Inventors: Paul Beardsley, Javier Alonso Mora, Andreas Breitenmoser, Martin Rufli, Roland Siegwart, Iain Matthews, Katsu Yamane
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Publication number: 20120206473Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of a real-world video texture. Mobile robots with controllable color may generate visual representations of the real-world video texture to create an effect like fire, sunlight on water, leaves fluttering in sunlight, a wheat field swaying in the wind, crowd flow in a busy city, and clouds in the sky. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic and holonomic robots to guarantee smooth and collision-free motions.Type: ApplicationFiled: April 27, 2012Publication date: August 16, 2012Inventors: Paul BEARDSLEY, Javier Alonso MORA, Andreas BREITENMOSER, Federico PERAZZI, Alexander HORNUNG