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: Disclosed are robot configuration-based mapping and planning technologies for a mobile robot.

Abstract: Embodiments disclosed include methods for controlling the behavior of autonomously navigating delivery robots when items cannot be delivered. Methods can include receiving a request to proceed to a delivery location when a robot is at a first location. Attempting to deliver an item at a delivery location. If the robot determines delivery is successful, it autonomously navigates back to the first location. If the robot determines delivery of the item is not successful, it autonomously navigates to another location different from the first location.

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 method for autonomous sensor data collection by a robot comprising: receiving, at the robot, a digitally stored initial map representing a plurality of locations within an environment, wherein each location of the plurality of locations is associated with first sensor data; determining, based on the initial map and one or more stored parameters, whether one or more portions of the initial map should be updated; in response to determining one or more portions of the initial map should be updated, the robot calculating a route to one or more target locations corresponding to the one or more portions of the initial map, and the robot physically traversing the environment on the route; during traversal of the route, collecting second sensor data from one or more sensors of the robot at each target location of the one or more target locations; generating updated map data associating each target location of the one or more locations with respective updated sensor data based on the second sensor data.

Abstract: A method for autonomous sensor data collection by a robot comprising: receiving, at the robot, a digitally stored initial map representing a plurality of locations within an environment, wherein each location of the plurality of locations is associated with first sensor data; determining, based on the initial map and one or more stored parameters, whether one or more portions of the initial map should be updated; in response to determining one or more portions of the initial map should be updated, the robot calculating a route to one or more target locations corresponding to the one or more portions of the initial map, and the robot physically traversing the environment on the route; during traversal of the route, collecting second sensor data from one or more sensors of the robot at each target location of the one or more target locations; generating updated map data associating each target location of the one or more locations with respective updated sensor data based on the second sensor data.

Abstract: Disclosed are technologies for robotic transport of one or more items of payload, including a configurable door assembly for a storage compartment of a robot.

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: Disclosed are robot configuration-based mapping and planning technologies for a mobile robot.

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 mobile robot can include an elongated body no more than two meters high and no more than one meter wide; at least one securable container; at least one depth sensor mounted near or at the top of the body to have a downward field of view (FOV), the at least one depth sensor comprising a video camera in combination with another distance sensor; and a drive mechanism configured to provide linear and rotational movement for the robot.

Abstract: A mobile robot can include an elongated body disposed in a vertical direction and having an approximately cylindrical shape; a user interface within an upper 20 centimeters of the body and inclined to be accessible from above and in front of the robot; at least one depth sensor that is mounted at or near a top of the body and having at least one field of view; at least one container formed within the body; and a drive mechanism disposed within the body.