Abstract: Embodiments are provided that include a method that includes causing a mobile robot to navigate toward a standing test device placed within an environment of the mobile robot. The method also includes receiving, from a proximity sensor on the standing test device, sensor data indicative of proximity of the mobile robot to the standing test device as the mobile robot navigates toward the standing test device. The method further includes determining, based on the sensor data received from the proximity sensor on the standing test device, an approach motion profile followed by the mobile robot in navigating toward the standing device. The method additionally includes providing a control instruction for the mobile robot based on the determined approach motion profile.

Abstract: Aspects of the disclosure provide techniques for automatic repeat request (ARQ) in a free-space optical communication (FSOC) architecture. These techniques, including block-selective ARQ, adaptive retransmission delay, and random seed scrambling, can be used individually or in combination to combat problems involving frame loss or corruption. These techniques enable the system to rapidly recover by streamlining the retransmission process. For instance, block-selective ARQ acknowledges variable length blocks of frames in the return stream from the receiver to the transmitter. Adaptive retransmission delay allows the retransmission delay to grow in the absence of feedback by the receiver, up to some defined limit. And with random seed sampling, a scrambling sequence is incorporated to aid with frame syncing, which avoids the need for a line code. These aspects of the technology provide a robust communication process, and also reduce overhead costs associated with unnecessary retransmissions.

Abstract: A laser tracking system for determining pose information of a rigid object is disclosed. The laser tracking system includes three or more retroreflectors, three or more sets of multiple laser trackers, and an electronic controller. Each retroreflector is secured to the rigid object that is moveable within a frame of reference. For each set of laser trackers, each laser tracker is configured to direct a laser beam to and receive a reflected laser beam from an associated one of the retroreflectors within the frame of reference. The electronic controller is in communication with each of the laser trackers and determines the pose information of the rigid object in the reference frame based on information about the fixed location of each laser tracker in the frame of reference and information about a distance of each retroreflector from each laser tracker of the set of laser trackers associated with the retroreflector.

Abstract: Embodiments are provided that include receiving sensor data from a sensor positioned at a plurality of positions in an environment. The environment includes a plurality of landmarks. The embodiments also include determining, based on the sensor data, a subset of the plurality of landmarks detected at each of the plurality of positions. The embodiments further include determining, based on the subset of the plurality of landmarks detected at each of the plurality of positions, a detection frequency of each landmark. The embodiments additionally include determining, based on the determined detection frequency of each landmark, a localization viability metric associated with each landmark. The embodiments still further include providing for display, via a user interface, a map of the environment. The map includes an indication of the localization viability metric associated with each landmark.

Abstract: A pulley system includes a cord and a pair of stages coupled at a pivot point, the stages being independently rotatable about a stage axis. A first pulley is attached to the stages at the pivot point. Two additional pulleys are attached to one of the stages. Braking elements are attached to one of the stages and engage the cord when an uneven tension is applied.

Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.

Abstract: The disclosure provides for a communication system that includes one or more sensors and one or more processors. The one or more processors are configured to receive, during a first timeframe, a first indication of an error rate of a communication link, a second indication of an amount of received power at a remote communication system, and one or more measurements related to the state of the communication system. The one or more processors are then configured to estimate a plurality of disturbance values to the communication system according to the one or more measurements and the second indication. Each disturbance value is associated with a set of components of the communication system. The one or more processors are configured to adjust a beam divergence of a beacon beam or a communication beam transmitted from the communication system based on the plurality of disturbance values and the first indication.

Abstract: A method for allocating resources for a machine learning model is disclosed. A machine learning model to be executed on a special purpose machine learning model processor is received. A computational data graph is generated from the machine learning model. The computational dataflow graph represents the machine learning model which includes nodes, connector directed edges, and parameter directed edges. The operations of the computational dataflow graph is scheduled and then compiled using a deterministic instruction set architecture that specifies functionality of a special purpose machine learning model processor. An amount of resources required to execute the computational dataflow graph is determined. Resources are allocated based on the determined amounts of resources required to execute the machine learning model represented by the computational dataflow graph.

Abstract: An example system includes a vehicle, a light projector connected to the vehicle, and a control system. The control system is configured to determine a planned operating region for the vehicle within an environment. The control system is also configured to determine that the planned operating region is within a threshold distance of an object within the environment and, in response, determine a caution region to illuminate with the light projector near the object. The control system is further configured to cause the light projector to project an indication of the caution region near the object. The projected indication remains fixed in relation to the object as the vehicle moves toward the planned operating region.

Abstract: Exemplary methods and systems may help to provide content to a user and/or take to take actions on user's behalf, based on a context-specific user-network that includes surrogates for a user in a certain context. An exemplary method may involve: (a) determining a context associated with a first user-profile; (b) determining a context-specific user-network for the first user-profile in the determined context, wherein the context-specific user-network comprises one or more user-profiles that are surrogates for the first user-profile in the determined context; (c) using historical context-to-action data for one or more of the surrogate user-profiles as a basis for determining a context-based action that is appropriate in the determined context; and (d) causing a computing device associated with the first user-profile to initiate the context-based action.

Abstract: The disclosure provides for a method for reacquiring a communication link between a first communication device and a second communication device. The method includes using one or more processors of the first communication device to receive historical data related to the first communication device and an environment surrounding the first communication device. The one or more processors are then used to determine one or more trends in the historical data related to fading of the communication link. Based on the one or more trends, the one or more processors are used to determine a starting time and an initial search direction for a search for the communication link. The one or more processors then execute the search at the starting time from the initial search direction.

Abstract: Systems and methods are described include a robot and/or an associated computing system that can use various cues about an environment of the robot to apply a bias to increase the accuracy of speech transcription. In some implementations, audio data corresponding to a spoken instruction to a robot is received. Candidate transcriptions of the audio data are obtained. A respective action of the robot corresponding to each of the candidate transcriptions of the audio data is determined. One or more scores indicating characteristics of a potential outcome of performing the respective action corresponding to the candidate transcription of the audio data are determined for each of the candidate transcriptions of the audio data. A particular candidate transcription is selected from among the candidate transcriptions based at least on the one or more scores. The action determined for the particular candidate transcription is performed.

Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.

Abstract: A method for analyzing electroencephalogram (EEG) signals is disclosed. Information associated with two or more options is presented to a user. EEG signals from a sensor coupled to the user are received contemporaneously to the user receiving information associated with the two or more options. The EEG signals are processed in real time to determine which one of the options was selected by the user. In response to determining which one of the options was selected by the user, an action from one or more possible actions associated with the information presented to the user is selected. An output associated with the selected action is then generated.

Abstract: An example method includes determining a target area of a ground plane in an environment of a mobile robotic device, where the target area of the ground plane is in front of the mobile robotic device in a direction of travel of the mobile robotic device. The method further includes receiving depth data from a depth sensor on the mobile robotic device. The method also includes identifying a portion of the depth data representative of the target area. The method additionally includes determining that the portion of the depth data lacks information representing at least one section of the target area. The method further includes providing an output signal identifying at least one zone of non-traversable space for the mobile robotic device in the environment, where the at least one zone of non-traversable space corresponds to the at least one section of the target area.

Abstract: An in-ear device includes a molding shaped to hold the in-ear device in an ear, and an audio package configured to emit sound. The audio package is structured to removably attach to the molding. An electronics package is structured to removably couple to the audio package and removably attach to the molding. The electronics package includes a controller to control the sound output from the audio package.

Abstract: A system and a method for determining local electric field strengths, the system including: a light source module configured to emit light; a plurality of electric field sensors, each sensor including a light input portion and a light output portion, each sensor including an electro-optic material arranged in a path of at least some of the received light, an optical property of the electro-optic material being variable depending on a local electric field strength at the sensor, and the electro-optic material being arranged in the sensor such that a property of the output light varies depending on the local electric field strength; a light detection module arranged to receive the output light from the sensors; and a processing module in communication with the light detection module, the processing module being programmed to determine a corresponding value for the electric field strength local to each of the sensors.

Abstract: Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.

Abstract: Apparatus and methods related to routing robots are provided. A roadmap of an environment that includes first and second robots can be received. The roadmap can be annotated with unidirectional lanes connecting conflict regions, where each lane ends so to avoid blocking a conflict region. First and second routes for the respective uses of the first and second robots can be determined, where both the first and second routes include a first lane connected to a first conflict region. A first, higher priority and a second, lower priority can be assigned to the respective first and second robots. It can be determined that the second robot following the second route will block the first robot on the first lane. Based on the first priority being higher than the second priority, the computing device can alter the second route to prevent the second robot from blocking the first robot.