Abstract: A method of moving a robotic cleaning device through an area includes loading instructions for a plurality of geometric elements. Each geometric element includes a starting point, paths of travel, and waypoints. An ending waypoint of a first geometric element is connected to the starting point for a subsequent geometric element. The instructions for each geometric element do not include dimensions for the one or more paths of travel. The instructions cause the robotic cleaning device to move along a first path of travel of the first geometric element until a sensor of the robotic cleaning device detects that the robotic cleaning device has reached a first waypoint. Then, if the first waypoint is the ending waypoint of the first geometric element, the robotic cleaning device moves along to the subsequent geometric element or changes direction and moves along a second path of travel of the first geometric element.

Abstract: A system dynamically generates a cleaning coverage pattern of an area using waypoints and sensor data from one or more sensor modalities. To do this, a robotic cleaning device moves through an area to be cleaned, identifies consecutive waypoints through the area, and stores the waypoints in a memory. At least one sensor of the robotic cleaning device collects sensor data about a portion of the area as the device moves between the consecutive waypoints. A temporary map of the portion of the area between the consecutive waypoints is generated based on the collected sensor data, and a cleaning coverage pattern is generated using the temporary map. The area is then cleaned by moving the robotic cleaning device according to the cleaning coverage pattern. In certain embodiments, upon completing the cleaning, the consecutive waypoints are retained in the memory, while the temporary map may not be retained.

Abstract: A system dynamically generates a cleaning coverage pattern of an area using waypoints and sensor data from one or more sensor modalities. To do this, a robotic cleaning device moves through an area to be cleaned, identifies consecutive waypoints through the area, and stores the waypoints in a memory. At least one sensor of the robotic cleaning device collects sensor data about a portion of the area as the device moves between the consecutive waypoints. A temporary map of the portion of the area between the consecutive waypoints is generated based on the collected sensor data, and a cleaning coverage pattern is generated using the temporary map. The area is then cleaned by moving the robotic cleaning device according to the cleaning coverage pattern. In certain embodiments, upon completing the cleaning, the consecutive waypoints are retained in the memory, while the temporary map may not be retained.

Abstract: A floor cleaning machine includes a set of obstacle sensors that detect when the machine is approaching an obstacle. If the obstacle is less than a threshold distance away from the machine, the machine may output an alert and override the operator's command with a command to reduce the speed of the machine. If the obstacle is less than a minimum threshold distance away from the machine, the machine may come to a complete stop to prevent the collision.

Abstract: A floor cleaning machine includes a set of obstacle sensors that detect when the machine is approaching an obstacle. If the obstacle is less than a threshold distance away from the machine, the machine may output an alert and override the operator's command with a command to reduce the speed of the machine. If the obstacle is less than a minimum threshold distance away from the machine, the machine may come to a complete stop to prevent the collision.