Abstract: A system includes first and second robotic machines and a task manager. The first and second robotic machines have respective first and second sets of capabilities for interacting with a surrounding environment. The task manager selects the first and second robotic machines from a group to perform a task based on the first and second sets of capabilities of the robotic machines. The task involves manipulating and/or inspecting a target object of a vehicle. The task manager assigns a first sequence of sub-tasks to be performed by the first robotic machine and a second sequence of sub-tasks to be performed by the second robotic machine. The first and second robotic machines are configured to coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

Abstract: A system includes a machine assembly, an imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The imaging sensor acquires perception information of a working environment that includes the brake lever. The encoder detects a displaced position of the machine assembly relative to a reference position of the machine assembly. The one or more processors detect a position of the brake lever relative to the machine assembly based on the acquired perception information and the detected displacement of the arm. The one or more processors generate a motion trajectory for the machine assembly that provides a path to the brake lever. The one or more processors drive movement of the machine assembly along the motion trajectory towards the brake lever.

Abstract: A robot system and method are provided that move an articulable arm relative to a target object. Perception information corresponding to a position of the arm relative to the target object is acquired. Movement of the arm is controlled based on the perception information. After movement of the arm, predicted position information representative of a predicted positioning of the arm is provided using the perception information and control signal information. The arm is subsequently controlled using the predicted position information.

Abstract: A system is provided that includes a machine assembly, a first imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system. The first imaging sensor is positioned to acquire two-dimensional perception information of a working environment that includes the brake lever during movement of the machine assembly towards the brake lever. The encoder detects a displacement of the machine assembly relative to a reference position of the machine assembly. The one or more processors estimate a target position of the brake lever relative to the machine assembly during movement of the machine assembly based on the two-dimensional perception information and the displacement. The one or more processors drive the movement of the machine assembly towards the target position of the brake lever.

Abstract: A robot system and method are provided that move an articulable arm relative to a target object. Perception information corresponding to a position of the arm relative to the target object is acquired at an acquisition rate. Movement of the arm is controlled at a control rate that is at least one of faster than or unsynchronized with the acquisition rate. Predicted position information representative of a predicted positioning of the arm is provided using the perception information. The arm is controlled using the perception information and the predicted position information.

Abstract: A system includes first and second robotic machines and a task manager. The first and second robotic machines have respective first and second sets of capabilities for interacting with a surrounding environment. The task manager selects the first and second robotic machines from a group to perform a task based on the first and second sets of capabilities of the robotic machines. The task involves manipulating and/or inspecting a target object of a vehicle. The task manager assigns a first sequence of sub-tasks to be performed by the first robotic machine and a second sequence of sub-tasks to be performed by the second robotic machine. The first and second robotic machines are configured to coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

Abstract: A robotic machine assembly includes a movable robotic arm configured to perform an assigned task that involves moving toward, engaging, and manipulating a target object of a vehicle. The assembly also includes a communication circuit configured to receive manipulation parameters for the target object from a remote database. The manipulation parameters are specific to at least one of the vehicle or a vehicle class in which the vehicle belongs. The assembly also includes one or more processors configured to generate a task performance plan for the robotic arm based on the manipulation parameters. The task performance plan includes prescribed forces to be exerted by the robotic arm on the target object to manipulate the target object. The one or more processors also are configured to drive movement of the robotic arm during performance of the assigned task according to the task performance plan.

Abstract: A robotic system includes a robotic vehicle having a propulsion system, one or more sensors that image data representative of an external environment, and a controller that determines a waypoint for the robotic vehicle to move toward. The controller determines limitations on movement of the robotic vehicle toward a waypoint. The limitations are based on the image data. The controller controls the propulsion system to move the robotic vehicle to the waypoint subject to the limitations on the movement to avoid colliding with one or more objects. The controller determines one or more additional waypoints subsequent to the robotic vehicle reaching the waypoint, determines one or more additional limitations on the movement of the robotic vehicle toward each of the respective additional waypoints, and control the propulsion system of the robotic vehicle to sequentially move the robotic vehicle to the one or more additional waypoints.

Abstract: A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.

Abstract: A robot system is provided that includes a base, an articulable arm, a visual acquisition unit, and at least one processor. The articulable arm extends from the base and is configured to be moved toward a target. The visual acquisition unit is mounted to the arm or the base, and acquires environmental information. The at least one processor is operably coupled to the arm and the visual acquisition unit, the at least one processor configured to: generate an environmental model using the environmental information; select, from a plurality of planning schemes, using the environmental model, at least one planning scheme to translate the arm toward the target; plan movement of the arm toward the target using the selected at least one planning scheme; and control movement of the arm toward the target using the at least one selected planning scheme.

Abstract: A processing system having at least one processor operatively coupled to at least one memory. The processor receives sensor data from the at least one sensor indicating one or more characteristics of the asset. The processor generates, updates, or maintains a digital representation that models the one or more characteristics of the asset. The processor detects a defect of the asset based at least in part on the one or more characteristics. The processor generate an output signal encoding or conveying instructions to provide a recommendation to an operator, to control the at least one robot to address the defect on the asset, or both, based on the defect and the digital representation of the asset.

Abstract: A robotic system includes a processing system comprising at least one processor. The processor generates a plan to monitor the asset. The plan comprises one or more tasks to be performed by the at least one robot. The processor receives sensor data from at least one sensor indicating one or more characteristics of the asset. The processor adjusts the plan to monitor the asset by adjusting or adding one or more tasks to the plan based on one or both of the quality of the acquired data or a potential defect of the asset. The adjusted plan causes the at least one robot to acquire additional data related to the asset when executed.

Abstract: Method includes executing a dynamic decision-making process that includes (a) receiving environmental data and (b) determining a fused ensemble based on the environmental data and a state parameters of a current state of a machine assembly. The fused ensemble includes communications from a system interface to the operator for the state parameters. The communications inform an operator about the state parameters and includes at least one of a visual signal, an audible signal, or a tactile signal from the system interface. The decision-making process also includes (c) communicating the fused ensemble to the operator through the system interface and (d) repeating (a)-(c) while the machine assembly is in the current state. The fused ensemble is configured to change based on changes in the environmental data.

Abstract: Systems and methods are provided for an automation system. The systems and methods calculate a motion trajectory of a manipulator and an end-effector. The end-effector is configured to grasp a target object. The motion trajectory defines successive positions of the manipulator and the end-effector along a plurality of via-points toward the target object. The systems and methods further acquire force/torque (F/T) data from an F/T sensor associated with the end-effector, and adjusts the motion trajectory based on the F/T data.

Abstract: A system is provided that includes a machine assembly, a first imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system. The first imaging sensor is positioned to acquire two-dimensional perception information of a working environment that includes the brake lever during movement of the machine assembly towards the brake lever. The encoder detects a displacement of the machine assembly relative to a reference position of the machine assembly. The one or more processors estimate a target position of the brake lever relative to the machine assembly during movement of the machine assembly based on the two-dimensional perception information and the displacement. The one or more processors drive the movement of the machine assembly towards the target position of the brake lever.

Abstract: Method includes executing a dynamic decision-making process that includes (a) receiving environmental data and (b) determining a fused ensemble based on the environmental data and a state parameters of a current state of a machine assembly. The fused ensemble includes communications from a system interface to the operator for the state parameters. The communications inform an operator about the state parameters and includes at least one of a visual signal, an audible signal, or a tactile signal from the system interface. The decision-making process also includes (c) communicating the fused ensemble to the operator through the system interface and (d) repeating (a)-(c) while the machine assembly is in the current state. The fused ensemble is configured to change based on changes in the environmental data.

Abstract: A robotic system validates brake bleeding by detecting one or more forces generated by a machine assembly acting to move a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The system also detects displacement of the machine assembly as the machine assembly acts to move the brake lever, monitors one or more sounds generated one or more of during or after the machine assembly acts to move the brake lever, and determines that the brake lever has been moved to a position to open the valve of the air brake system to release the air brake system based on the one or more forces that are detected, the displacement that is detected, and/or the one or more sounds that are monitored.

Abstract: A system includes a machine assembly, an imaging sensor, an encoder, and one or more processors. The machine assembly is movable to actuate a brake lever of a vehicle in order to open a valve of an air brake system of the vehicle. The imaging sensor acquires perception information of a working environment that includes the brake lever. The encoder detects a displaced position of the machine assembly relative to a reference position of the machine assembly. The one or more processors detect a position of the brake lever relative to the machine assembly based on the acquired perception information and the detected displacement of the arm. The one or more processors generate a motion trajectory for the machine assembly that provides a path to the brake lever. The one or more processors drive movement of the machine assembly along the motion trajectory towards the brake lever.

Abstract: A manipulation platform includes a navigation system, manipulation arm, and one or more area sensors. The navigation unit locates a position of the manipulation platform, and a manipulation arm has a device or a collection sensor. The area sensors acquire data representative of at least a portion of an area in which the manipulation platform is located. Processors determine or predict a presence of an external object within a manipulation range of the manipulation arm using the data acquired by the one or more area sensors. The processors respond to a determination of the external body being, or being predicted to be, within the manipulation range by controlling one or more of the manipulation arm or the manipulation platform.

Abstract: A robot system and method are provided that move an articulable arm relative to a target object. Perception information corresponding to a position of the arm relative to the target object is acquired at an acquisition rate. Movement of the arm is controlled at a control rate that is at least one of faster than or unsynchronized with the acquisition rate. Predicted position information representative of a predicted positioning of the arm is provided using the perception information. The arm is controlled using the perception information and the predicted position information.