Patents by Inventor Robert Todd Pack
Robert Todd Pack 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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Publication number: 20190033866Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.Type: ApplicationFiled: October 1, 2018Publication date: January 31, 2019Inventors: Robert Todd Pack, James Allard, David S. Barrett, Misha Filippop, Selma Svendsen
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Patent number: 10088845Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.Type: GrantFiled: November 17, 2016Date of Patent: October 2, 2018Assignee: iRobot CorporationInventors: Robert Todd Pack, James Allard, David S. Barrett, Misha Filippov, Selma Svendsen
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Patent number: 9658615Abstract: A system includes an operator control unit having a point-and-click interface configured to allow the operator to control the remote vehicle by inputting one or more commands via the point-and-click interface. The operator control unit displays a 3D local perceptual space comprising an egocentric coordinate system encompassing a predetermined distance centered on the remote vehicle, a remote vehicle representation having selectable portions, and an icon at a point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle. The system also includes a payload attached to the remote vehicle. The payload includes a computational module and an integrated sensor suite including a global positioning system, an inertial measurement unit, and a stereo vision camera.Type: GrantFiled: December 31, 2014Date of Patent: May 23, 2017Assignee: IROBOT DEFENSE HOLDINGS, INC.Inventors: Robert Todd Pack, Daniel P. Allis
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Publication number: 20170102701Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.Type: ApplicationFiled: November 17, 2016Publication date: April 13, 2017Inventors: Robert Todd Pack, James Allard, David S. Barrett, Misha Filippov, Selma Svendsen
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Patent number: 9513634Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.Type: GrantFiled: July 13, 2015Date of Patent: December 6, 2016Assignee: iRobot CorporationInventors: Robert Todd Pack, James Allard, David S. Barrett, Misha Filippov, Selma Svendsen
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Patent number: 9400503Abstract: A method of object detection for a mobile robot includes emitting a speckle pattern of light onto a scene about the robot while maneuvering the robot across a work surface, receiving reflections of the emitted speckle pattern off surfaces of a target object in the scene, determining a distance of each reflecting surface of the target object, constructing a three-dimensional depth map of the target object, and classifying the target object.Type: GrantFiled: February 22, 2011Date of Patent: July 26, 2016Assignee: iRobot CorporationInventors: Justin H. Kearns, Orjeta Taka, Robert Todd Pack, Michael T. Rosenstein, Michael Halloran, Timothy S. Farlow, Steven V. Shamlian, Chikyung Won, Mark Chiappetta, Jasper Fourways Vicenti
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Publication number: 20160193732Abstract: A persistent companion robot supports both one-on-one interaction with a human and group interaction with more than one human. The interaction can be directed to a human in detectable proximity, such as a human that is near to the robot, one that is further away from the robot, or any combination of near and far humans. The interaction incorporates multi-modal human input detection (e.g., seeing, hearing, tactile) with multi-modal expression (e.g., movement, speech, non-speech sound, lighting, electronic imagery, and the like.Type: ApplicationFiled: March 15, 2016Publication date: July 7, 2016Inventors: Cynthia Breazeal, Robert Todd Pack, Seppo Andrew Rapo, Roberto Pieraccini, Maxim Makachev
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Publication number: 20160187885Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.Type: ApplicationFiled: July 13, 2015Publication date: June 30, 2016Inventors: Robert Todd Pack, James Allard, David S. Barrett, Misha Filippov, Selma Svendsen
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Patent number: 9329598Abstract: A method of localizing a mobile robot includes receiving sensor data of a scene about the robot and executing a particle filter having a set of particles. Each particle has associated maps representing a robot location hypothesis. The method further includes updating the maps associated with each particle based on the received sensor data, assessing a weight for each particle based on the received sensor data, selecting a particle based on its weight, and determining a location of the robot based on the selected particle.Type: GrantFiled: April 13, 2015Date of Patent: May 3, 2016Assignee: iRobot CorporationInventors: Robert Todd Pack, Scott R. Lenser, Justin H. Kearns, Orjeta Taka
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Patent number: 9327403Abstract: A method of commanding a remote vehicle includes executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action. The method also includes determining servo commands corresponding to the best feasible action for one or more actuators of a drive system or a manipulation system of the remote vehicle and commanding the one or more actuators of the remote vehicle based on the servo commands. The best feasible action includes actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected.Type: GrantFiled: September 25, 2013Date of Patent: May 3, 2016Assignee: iRobot CorporationInventors: Robert Todd Pack, Orjeta Taka
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Patent number: 9110471Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.Type: GrantFiled: December 12, 2011Date of Patent: August 18, 2015Assignee: iRobot CorporationInventors: Robert Todd Pack, James Allard, David S. Barrett, Misha Filippov, Selma Svendsen
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Patent number: 9104202Abstract: An operator control unit having a user interface that allows a user to control a remote vehicle, the operator control unit comprising: a transmission unit configured to transmit data to the remote vehicle; a receiver unit configured to receive data from the remote vehicle, the data received from the remote vehicle comprising image data captured by the remote vehicle; and a display unit configured to display a user interface comprising the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements. Inputting a control command to control the at least one controllable element comprises selecting the icon representing the at least one controllable element, inputting an action for the at least one controllable element, and requesting that the at least one controllable element performs the action.Type: GrantFiled: August 23, 2011Date of Patent: August 11, 2015Assignee: iRobot CorporationInventors: Robert Todd Pack, Daniel P. Allis, Marshall J. Vale
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Publication number: 20150212521Abstract: A method of localizing a mobile robot includes receiving sensor data of a scene about the robot and executing a particle filter having a set of particles. Each particle has associated maps representing a robot location hypothesis. The method further includes updating the maps associated with each particle based on the received sensor data, assessing a weight for each particle based on the received sensor data, selecting a particle based on its weight, and determining a location of the robot based on the selected particle.Type: ApplicationFiled: April 13, 2015Publication date: July 30, 2015Applicant: iRobot CorporationInventors: Robert Todd Pack, Scott R. Lenser, Justin H. Kearns, Orjeta Taka
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Publication number: 20150197007Abstract: An operator control unit includes a user interface that allows a user to control a remote vehicle, a transmission unit configured to transmit data to the remote vehicle, and a receiver unit configured to receive data from the remote vehicle. The data received from the remote vehicle includes image data captured by the remote vehicle. The operator control unit includes a display unit configured to display the user interface including the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements.Type: ApplicationFiled: March 23, 2015Publication date: July 16, 2015Applicant: iRobot CorporationInventors: Robert Todd Pack, Daniel P. Allis, Marshall J. Vale
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Patent number: 9037396Abstract: A method of localizing a mobile robot includes receiving sensor data of a scene about the robot and executing a particle filter having a set of particles. Each particle has associated maps representing a robot location hypothesis. The method further includes updating the maps associated with each particle based on the received sensor data, assessing a weight for each particle based on the received sensor data, selecting a particle based on its weight, and determining a location of the robot based on the selected particle.Type: GrantFiled: May 23, 2013Date of Patent: May 19, 2015Assignee: iRobot CorporationInventors: Robert Todd Pack, Scott R. Lenser, Justin H. Kearns, Orjeta Taka
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Publication number: 20150134146Abstract: A system includes an operator control unit having a point-and-click interface configured to allow the operator to control the remote vehicle by inputting one or more commands via the point-and-click interface. The operator control unit displays a 3D local perceptual space comprising an egocentric coordinate system encompassing a predetermined distance centered on the remote vehicle, a remote vehicle representation having selectable portions, and an icon at a point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle. The system also includes a payload attached to the remote vehicle. The payload includes a computational module and an integrated sensor suite including a global positioning system, an inertial measurement unit, and a stereo vision camera.Type: ApplicationFiled: December 31, 2014Publication date: May 14, 2015Applicant: iRobot CorporationInventors: Robert Todd Pack, Daniel P. Allis
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Publication number: 20150120057Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.Type: ApplicationFiled: December 30, 2014Publication date: April 30, 2015Applicant: iRobot CorporationInventors: Cheuk Wah Wong, Eben Rauhut, Brian C. Benson, JR., Peter J. Lydon, Michael T. Rosenstein, Michael Halloran, Steven V. Shamlian, Chikyung Won, Mark Chiappetta, Justin H. Kearns, Orjeta Taka, Robert Todd Pack, Timothy S. Farlow, Jasper Fourways Vicenti
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Patent number: 9002535Abstract: An operator control unit has a user interface that allows a user to identify a mode of display and interaction that narrows the user's options for his next interaction with the user interface. The user interface utilizes portals to transition between environments such as indoors to outdoors, outdoors to indoors, different rooms of a building, and different floors of a building, the portals representing one or more of stairways and doors, and being used in remote vehicle path planning as waypoints that may require execution of predetermined behaviors.Type: GrantFiled: May 11, 2011Date of Patent: April 7, 2015Assignee: iRobot CorporationInventors: Aaron Powers, Justin Kearns, Robert Todd Pack, Orjeta Taka, Eben Rauhut, Marshall Vale
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Patent number: 8958911Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.Type: GrantFiled: July 23, 2012Date of Patent: February 17, 2015Assignee: iRobot CorporationInventors: Cheuk Wah Wong, Eben Rauhut, Brian C. Benson, Peter J. Lydon, Michael T. Rosenstein, Michael Halloran, Steven V. Shamlian, Chikyung Won, Mark Chiappetta, Justin H. Kearns, Orjeta Taka, Robert Todd Pack, Timothy S. Farlow, Jasper Fourways Vicenti
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Patent number: 8954194Abstract: A system increases an operator's situational awareness while the operator controls a remote vehicle. The system comprises an operator control unit having a point-and-click interface configured to allow the operator to view an environment surrounding the remote vehicle and control the remote vehicle, and a payload attached to the remote vehicle and in communication with at least one of the remote vehicle and the operator control unit. The payload comprises an integrated sensor suite including GPS, an inertial measurement unit, a stereo vision camera, and a range sensor, and a computational module receiving data from the GPS, the inertial measurement unit, the stereo vision camera, and the range sensor and providing data to a CPU including at least one of an autonomous behavior and a semi-autonomous behavior that utilize data from the integrated sensor suite.Type: GrantFiled: May 12, 2011Date of Patent: February 10, 2015Assignee: iRobot CorporationInventors: Daniel Allis, Robert Todd Pack