Abstract: Stations for deployment, recharging and/or maintenance of a plurality of unmanned aerial vehicles (UAVs) are disclosed herein. Such deployment stations can be implemented in a container that includes a robotic arm and a conveyor system. The robotic arm can secure a UAV hovering outside the station, move the UAV inside the station, and transfer the UAV to the conveyor. The conveyor can couple to and move multiple UAVs. Further, charging systems may be integrated in such deployment stations to charge UAVs when coupled to and moving along the conveyer. Further, process pieces may be utilized to simplify mechanical and electrical interfacing between a UAV, the robotic arm, the conveyor, the charging system and/or other systems at the UAV station.

Abstract: Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

Abstract: An example method involves receiving, from at least one camera located in an environment, a plurality of images captured during a first time interval. The method also involves selecting one or more of the plurality of images having a movable platform supporting one or more objects. The method further involves generating a three-dimensional model of the movable platform supporting the one or more objects. The method yet further involves updating the three-dimensional model based on one or more images captured during a second time interval. The method still further involves presenting the three-dimensional model via a display of a user interface, and providing an option to view a history of the three-dimensional model such that the three-dimensional model remains in a fixed position on the display during a viewing of the history.

Abstract: Example pallet-conveyor systems may include a conveyor system configured with a delivery track arranged to move pallets to a delivery area, a recirculation loop, and a diverter mechanism. The system may include a computing system that selects an item for the recirculation loop based on future demand and causes a robotic device to maintain pallets of the selected item in the recirculation loop. The computing system may further receive an item request and determine that a requested item is available from the recirculation loop and responsively cause the diverter mechanism to divert the requested item from the recirculation loop to the delivery track. The computing system may also cause robotic devices to obtain and load pallets of remaining requested items onto the conveyer system for the delivery area, and cause pickers to remove one or more items from pallets at the delivery area in order to fulfill the item request.

Abstract: Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

Abstract: Example pallet-conveyor systems may include a conveyor system configured with a delivery track arranged to move pallets to a delivery area, a recirculation loop, and a diverter mechanism. The system may include a computing system that selects an item for the recirculation loop based on future demand and causes a robotic device to maintain pallets of the selected item in the recirculation loop. The computing system may further receive an item request and determine that a requested item is available from the recirculation loop and responsively cause the diverter mechanism to divert the requested item from the recirculation loop to the delivery track. The computing system may also cause robotic devices to obtain and load pallets of remaining requested items onto the conveyer system for the delivery area, and cause pickers to remove one or more items from pallets at the delivery area in order to fulfill the item request.

Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.

Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.

Abstract: An example method involves receiving, from at least one camera located in an environment, a plurality of images captured during a first time interval. The method also involves selecting one or more of the plurality of images having a movable platform supporting one or more objects. The method further involves generating a three-dimensional model of the movable platform supporting the one or more objects. The method yet further involves updating the three-dimensional model based on one or more images captured during a second time interval. The method still further involves presenting the three-dimensional model via a display of a user interface, and providing an option to view a history of the three-dimensional model such that the three-dimensional model remains in a fixed position on the display during a viewing of the history.

Abstract: Example pallet-conveyor systems may include a conveyor system configured with a delivery track arranged to move pallets to a delivery area, a recirculation loop, and a diverter mechanism. The system may include a computing system that selects an item for the recirculation loop based on future demand and causes a robotic device to maintain pallets of the selected item in the recirculation loop. The computing system may further receive an item request and determine that a requested item is available from the recirculation loop and responsively cause the diverter mechanism to divert the requested item from the recirculation loop to the delivery track. The computing system may also cause robotic devices to obtain and load pallets of remaining requested items onto the conveyer system for the delivery area, and cause pickers to remove one or more items from pallets at the delivery area in order to fulfill the item request.

Abstract: Example pallet-conveyor systems may include a conveyor system configured with a delivery track arranged to move pallets to a delivery area, a recirculation loop, and a diverter mechanism. The system may include a computing system that selects an item for the recirculation loop based on future demand and causes a robotic device to maintain pallets of the selected item in the recirculation loop. The computing system may further receive an item request and determine that a requested item is available from the recirculation loop and responsively cause the diverter mechanism to divert the requested item from the recirculation loop to the delivery track. The computing system may also cause robotic devices to obtain and load pallets of remaining requested items onto the conveyer system for the delivery area, and cause pickers to remove one or more items from pallets at the delivery area in order to fulfill the item request.

Abstract: A robotic body includes a first section and a second section. The first section includes a first wheel, and the second section includes a second wheel. A coupling assembly couples the first section and the second section. The coupled first section and second section are movable together via operation of the wheels. The coupling assembly includes a housing defining an interior chamber, a spindle disposed in the interior chamber of the housing, and a bearing device disposed in the interior chamber and between the housing and the spindle. The bearing device allows the spindle to rotate inside the interior chamber and relative to the housing. The first section is coupled to the housing and the second section is coupled to the spindle. The first section rotates relative to the second section according to a rotation between the spindle and the housing.

Abstract: Systems and methods related to localizing mobile robotic devices are provided. A control system can receive a request for a particular mobile robotic device (PMRD) to travel between a first area and a cell area. After receiving the request, the control system can disable a presence sensor detecting objects traveling between the first area and the cell area. The control system can receive, from one or more identification sensors, sensor data identifying a mobile robotic device that has moved into the cell area based on identifiers of the mobile robotic device. The control system can verify that sensor data indicates the PMRD is in the cell area. After verifying that the PMRD is in the cell area, the control system can: disable the PMRD, enable the presence sensor, and indicate that the PMRD is disabled in the cell area.

Abstract: Systems and methods related to localizing mobile robotic devices are provided. A control system can receive a request for a particular mobile robotic device (PMRD) to travel between a first area and a cell area. After receiving the request, the control system can disable a presence sensor detecting objects traveling between the first area and the cell area. The control system can receive, from one or more identification sensors, sensor data identifying a mobile robotic device that has moved into the cell area based on identifiers of the mobile robotic device. The control system can verify that sensor data indicates the PMRD is in the cell area. After verifying that the PMRD is in the cell area, the control system can: disable the PMRD, enable the presence sensor, and indicate that the PMRD is disabled in the cell area.

Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.

Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.

Abstract: Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.