Abstract: A mobile robot includes a mode of operation to recover from a localization error. The mobile robot detects a change in state in a local region proximate the mobile robot. The location of the mobile robot is identified based at least in part on the detected change in state. In one implementation, the mobile robot interfaces with a system controller of a building to initiate a change in state in a local region of a building.

Abstract: A method for a robot to autonomously interact with elevator controls comprising: while physically traversing a route to a target location within an environment, determining that the route includes navigating to a particular floor that is different than a current floor of the robot; navigating to a set of one or more elevators along the route; identifying a location of an elevator call button corresponding to the set of one or more elevators; navigating to the location of the elevator call button and pressing the elevator call button, wherein pressing the elevator call button comprises: rotating the robot in place until a vertical structure faces the elevator call button; extending or retracting the vertical structure until a button pushing element is aligned with the elevator call button; moving towards the elevator call button and causing the button pushing element to press the elevator call button.

Abstract: A method for a robot to autonomously interact with elevator controls comprising: while physically traversing a route to a target location within an environment, determining that the route includes navigating to a particular floor that is different than a current floor of the robot; navigating to a set of one or more elevators along the route; identifying a location of an elevator call button corresponding to the set of one or more elevators; navigating to the location of the elevator call button and pressing the elevator call button, wherein pressing the elevator call button comprises: rotating the robot in place until a vertical structure faces the elevator call button; extending or retracting the vertical structure until a button pushing element is aligned with the elevator call button; moving towards the elevator call button and causing the button pushing element to press the elevator call button.

Abstract: A mobile robot includes a mode of operation to recover from a localization error. The mobile robot detects a change in state in a local region proximate the mobile robot. The location of the mobile robot is identified based at least in part on the detected change in state. In one implementation, the mobile robot interfaces with a system controller of a building to initiate a change in state in a local region of a building.

Abstract: A method for constraining movements of a robot comprises: obtaining digitally stored dynamic building data describing a set of one or more temporary conditions, the dynamic building data comprising, for each temporary condition of the set of one or more temporary conditions, a location of the temporary condition and a description of the temporary location; updating, from the dynamic building data, digital cost data associated with one or more features of a digital map by calculating, for each temporary condition of the set of one or more temporary conditions, an increased cost of navigation associated with the location of the temporary condition; in response to receiving a task that is associated with a destination location, determining a route of the robot to the destination location using the digital map based in part upon the location of each temporary condition and the increased cost associated with the location, the route not including at least a location of a particular temporary condition of the set of

Abstract: A mobile robot includes a mode of operation to recover from a localization error. The mobile robot detects a change in state in a local region proximate the mobile robot. The location of the mobile robot is identified based at least in part on the detected change in state. In one implementation, the mobile robot interfaces with a system controller of a building to initiate a change in state in a local region of a building.

Abstract: A method for constraining movements of a robot comprises: obtaining digitally stored dynamic building data describing a set of one or more temporary conditions, the dynamic building data comprising, for each temporary condition of the set of one or more temporary conditions, a location of the temporary condition and a description of the temporary location; updating, from the dynamic building data, digital cost data associated with one or more features of a digital map by calculating, for each temporary condition of the set of one or more temporary conditions, an increased cost of navigation associated with the location of the temporary condition; in response to receiving a task that is associated with a destination location, determining a route of the robot to the destination location using the digital map based in part upon the location of each temporary condition and the increased cost associated with the location, the route not including at least a location of a particular temporary condition of the set of

Abstract: A method for autonomous map generation by a robot comprising: instructing the robot to traverse a route within an environment in which the robot is deployed; while following the route, causing the robot to collect sensor data to identify features in the environment and to generate an initial map of areas in environment that have been traversed; upon completion of the route, autonomously generating a map of valid areas of the environment by moving throughout the environment while collecting sensor data; while autonomously generating the map, determining that a particular area is potentially invalid by detecting features that are previously unknown to the robot; generating and providing an electronic message to an operator of the robot comprising sensor data of the particular area and a prompt requesting information indicating whether the particular area is valid or invalid; upon receiving a response from the operator, continuing autonomously generating the map according to the response wherein if the particula

Abstract: A mobile robot includes a mode of operation to recover from a localization error. The mobile robot detects a change in state in a local region proximate the mobile robot. The location of the mobile robot is identified based at least in part on the detected change in state. In one implementation, the mobile robot interfaces with a system controller of a building to initiate a change in state in a local region of a building.

Abstract: A robot for delivering items within a building or within a prescribed radius of a building are provided.

Abstract: A method for constraining movements of a robot comprises: obtaining digitally stored dynamic building data describing a set of one or more temporary conditions, the dynamic building data comprising, for each temporary condition of the set of one or more temporary conditions, a location of the temporary condition and a description of the temporary location; updating, from the dynamic building data, digital cost data associated with one or more features of a digital map by calculating, for each temporary condition of the set of one or more temporary conditions, an increased cost of navigation associated with the location of the temporary condition; in response to receiving a task that is associated with a destination location, determining a route of the robot to the destination location using the digital map based in part upon the location of each temporary condition and the increased cost associated with the location, the route not including at least a location of a particular temporary condition of the set of

Abstract: A method for autonomous map generation by a robot comprising: instructing the robot to traverse a route within an environment in which the robot is deployed; while following the route, causing the robot to collect sensor data to identify features in the environment and to generate an initial map of areas in environment that have been traversed; upon completion of the route, autonomously generating a map of valid areas of the environment by moving throughout the environment while collecting sensor data; while autonomously generating the map, determining that a particular area is potentially invalid by detecting features that are previously unknown to the robot; generating and providing an electronic message to an operator of the robot comprising sensor data of the particular area and a prompt requesting information indicating whether the particular area is valid or invalid; upon receiving a response from the operator, continuing autonomously generating the map according to the response wherein if the particula

Abstract: A robot for delivering items within a building or within a prescribed radius of a building are provided.

Abstract: A method for autonomous map generation by a robot comprising: instructing the robot to traverse a route within an environment in which the robot is deployed; while following the route, causing the robot to collect sensor data to identify features in the environment and to generate an initial map of areas in environment that have been traversed; upon completion of the route, autonomously generating a map of valid areas of the environment by moving throughout the environment while collecting sensor data; while autonomously generating the map, determining that a particular area is potentially invalid by detecting features that are previously unknown to the robot; generating and providing an electronic message to an operator of the robot comprising sensor data of the particular area and a prompt requesting information indicating whether the particular area is valid or invalid; upon receiving a response from the operator, continuing autonomously generating the map according to the response wherein if the particula

Abstract: A method for constraining movements of a robot comprises: using the robot, receiving dynamic building data that describes a temporary condition of a building or campus comprising a set of buildings and a location of the temporary condition; using the robot, updating, from the dynamic building data, a map layer of a plurality of map layers of a map by calculating an increased cost of navigation of the portion of the map layer corresponding to the location of the temporary condition, the increased cost based on the description of the temporary condition; using the robot, upon receiving a task having an origin location and a destination location, determining a fastest route from the origin location to the destination location from the plurality of map layers of the map using a graph search algorithm that calculates an expected velocity of the robot over the portion of the map layer corresponding to the location of the temporary condition; using the robot, traversing the fastest route from the origin location to

Abstract: A user interface tag for use in processing a service on a scannable document is provided. A printable surface is on one side of the scannable document and an adhesive surface is on another side of the scannable document. The printable surface further includes a printed data field specified substantially within the printable surface, including machine-readable marks of digital data encoding a service code and a user identification number; and a printed rectilinear border surrounding the printed data field to define a rectilinear iconic representation. A scanned representation of the machine-readable marks is located by identifying the printed rectilinear border using corner candidates oriented in diametric opposition from among connected components identified on the document and the scanned representation of the machine-readable marks are decoded from the rectilinear iconic representation to specify the user identification number and the service code.

Abstract: A user interface tag for use in processing a document is provided. A printable surface is on one side of a document and an adhesive surface is on an other side of the document. The printable surface further includes a printed data field, including machine-readable marks of digital data encoding a service and a user identity; and a printed border surrounding the printed data field to define an iconic representation. A scanned representation of the machine-readable marks is decoded from the iconic representation to specify the user identity and the service.

Abstract: A method and system for performing high precision and high recall relevancy searching is provided. According to embodiments of the present invention, a relevance rule is generated based on a user model and language from within one or more relevant and non-relevant documents. A query is created based on the relevance rule wherein the query may be applied to a corpus to identify relevant and non-relevant documents. The relevance rule may be iteratively refined in order to increase the accuracy of the query. The resulting query may be used by a litigator during the discovery phase of a litigation to respond to a request for production.

Abstract: A method and system for performing high precision and high recall relevancy searching is provided. According to embodiments of the present invention, a relevance rule is generated based on a user model and language from within one or more relevant and non-relevant documents. A query is created based on the relevance rule wherein the query may be applied to a corpus to identify relevant and non-relevant documents. The relevance rule may be iteratively refined in order to increase the accuracy of the query. The resulting query may be used by a litigator during the discovery phase of a litigation to respond to a request for production.

Abstract: A user interface tag for use in processing a service on a scannable document is provided. A printable surface is on one side of the scannable document and an adhesive surface is on another side of the scannable document. The printable surface further includes a printed data field specified substantially within the printable surface, including machine-readable marks of digital data encoding a service code and a user identification number; and a printed rectilinear border surrounding the printed data field to define a rectilinear iconic representation. A scanned representation of the machine-readable marks is located by identifying the printed rectilinear border using corner candidates oriented in diametric opposition from among connected components identified on the document and the scanned representation of the machine-readable marks are decoded from the rectilinear iconic representation to specify the user identification number and the service code.