Abstract: Example systems and methods are disclosed for implementing vehicle operation limits to prevent vehicle load failure during vehicle teleoperation. The method may include receiving sensor data from sensors on a vehicle that carries a load. The vehicle may be controlled by a remote control system. The load weight and dimensions may be determined based on the sensor data. In order to prevent a vehicle load failure, a forward velocity limit and an angular velocity limit may be calculated. Vehicle load failures may include the vehicle tipping over, the load tipping over, the load sliding off of the vehicle, or collisions. The vehicle carrying the load may be restricted from exceeding the forward velocity limit and/or the angular velocity limit during vehicle operation. The remote control system may display a user interface indicating to a remote operator the forward velocity limit and the angular velocity limit.

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: Example systems and methods are disclosed for implementing vehicle operation limits to prevent vehicle load failure during vehicle teleoperation. The method may include receiving sensor data from sensors on a vehicle that carries a load. The vehicle may be controlled by a remote control system. The load weight and dimensions may be determined based on the sensor data. In order to prevent a vehicle load failure, a forward velocity limit and an angular velocity limit may be calculated. Vehicle load failures may include the vehicle tipping over, the load tipping over, the load sliding off of the vehicle, or collisions. The vehicle carrying the load may be restricted from exceeding the forward velocity limit and/or the angular velocity limit during vehicle operation. The remote control system may display a user interface indicating to a remote operator the forward velocity limit and the angular velocity limit.

Abstract: An example system includes one or more laser sensors on a robotic device, where the one or more laser sensors are configured to produce laser sensor data indicative of a first area within a first distance in front of the robotic device. The system further includes one or more stereo sensors on the robotic device, where the stereo sensors on the robotic device are configured to produce stereo sensor data indicative of a second area past a second distance in front of the robotic device. The system also includes a controller configured to receive the laser sensor data, receive the stereo sensor data, detect one or more objects in front of the robotic device based on at least one of the laser sensor data and the stereo sensor data, and provide instructions for the robotic device to navigate based on the one or more detected objects.

Abstract: Example systems and methods are disclosed for implementing vehicle operation limits to prevent vehicle load failure during vehicle teleoperation. The method may include receiving sensor data from sensors on a vehicle that carries a load. The vehicle may be controlled by a remote control system. The load weight and dimensions may be determined based on the sensor data. In order to prevent a vehicle load failure, a forward velocity limit and an angular velocity limit may be calculated. Vehicle load failures may include the vehicle tipping over, the load tipping over, the load sliding off of the vehicle, or collisions. The vehicle carrying the load may be restricted from exceeding the forward velocity limit and/or the angular velocity limit during vehicle operation. The remote control system may display a user interface indicating to a remote operator the forward velocity limit and the angular velocity limit.

Abstract: Example implementations may relate to methods and systems for determining a safe trajectory for movement of an object by a robotic system. According to these various implementations, the robotic system may determine at least first and second candidate trajectories for moving the object. For at least a first point along the first candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the first point along the first candidate trajectory. And for at least a second point along the second candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the second point along the second candidate trajectory. Then, based on these various determined predicted costs, the robotic system may select between the first and second candidates trajectories and may then move the object along the selected trajectory.

Abstract: An example method includes receiving instructions to pick up an object with one or more lift elements of an autonomous vehicle. Based on a current positioning of the vehicle, the method further includes identifying the object to be picked up and a particular side of the object under which to place the one or more lift elements of the vehicle. The method additionally includes determining an approach path toward the object for the vehicle to follow to place the lift elements of the vehicle under the particular side of the object. The method further includes causing the vehicle to move along the determined approach path toward the object. The method additionally includes determining that the lift elements of the vehicle are placed under the particular side of the object. The method also includes causing the vehicle to lift the object with the lift elements.

Abstract: An example method includes receiving instructions to pick up an object with one or more lift elements of an autonomous vehicle. Based on a current positioning of the vehicle, the method further includes identifying the object to be picked up and a particular side of the object under which to place the one or more lift elements of the vehicle. The method additionally includes determining an approach path toward the object for the vehicle to follow to place the lift elements of the vehicle under the particular side of the object. The method further includes causing the vehicle to move along the determined approach path toward the object. The method additionally includes determining that the lift elements of the vehicle are placed under the particular side of the object. The method also includes causing the vehicle to lift the object with the lift elements.

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: Systems and methods are provided for automated route discovery. A computing device can receive location data for designated actor(s) of a plurality of actors operating within an environment. The plurality of actors can also include a robotic device. The computing device can determine a route network of paths taken by the designated actor(s) within the environment, where the route network includes information about frequencies of paths taken by the designated actor(s) based on the location data. The computing device can receive a starting location and a destination location for the robotic device. The computing device can select a selected path from the starting location to the destination location based on the route network taken by the designated actor(s). The computing device can provide an instruction to the robotic device to use the selected path to travel from the starting location to the destination location.

Abstract: Example implementations may relate to methods and systems for determining a safe trajectory for movement of an object by a robotic system. According to these various implementations, the robotic system may determine at least first and second candidate trajectories for moving the object. For at least a first point along the first candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the first point along the first candidate trajectory. And for at least a second point along the second candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the second point along the second candidate trajectory. Then, based on these various determined predicted costs, the robotic system may select between the first and second candidates trajectories and may then move the object along the selected trajectory.

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: Example implementations may relate to methods and systems for determining a safe trajectory for movement of an object by a robotic system. According to these various implementations, the robotic system may determine at least first and second candidate trajectories for moving the object. For at least a first point along the first candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the first point along the first candidate trajectory. And for at least a second point along the second candidate trajectory, the robotic system may determine a predicted cost of dropping the object at the second point along the second candidate trajectory. Then, based on these various determined predicted costs, the robotic system may select between the first and second candidates trajectories and may then move the object along the selected trajectory.

Abstract: Methods and systems for remote perception assistance to facilitate robotic object manipulation are provided herein. From a model of objects in an environment of a robotic manipulator, a virtual boundary line separating two adjacent identified virtual objects may be identified. The robotic manipulator may be configured to perform a task involving a manipulation of at least one object in the environment represented by the identified virtual objects. Based on the identifying, a request for remote assistance with verifying the virtual boundary line may be sent to a remote assistor device. A response to the request, including a modification to the virtual boundary line, may then be received from the remote assistor device. The robotic manipulator may then be caused to perform the task based on the modification to the virtual boundary line.

Abstract: An example system includes one or more laser sensors on a robotic device, where the one or more laser sensors are configured to produce laser sensor data indicative of a first area within a first distance in front of the robotic device. The system further includes one or more stereo sensors on the robotic device, where the stereo sensors on the robotic device are configured to produce stereo sensor data indicative of a second area past a second distance in front of the robotic device. The system also includes a controller configured to receive the laser sensor data, receive the stereo sensor data, detect one or more objects in front of the robotic device based on at least one of the laser sensor data and the stereo sensor data, and provide instructions for the robotic device to navigate based on the one or more detected objects.

Abstract: Disclosed herein are methods and systems for determining a safe path for movement of an object by a robotic system. According to these implementations, the robotic system may determine a safety level for each of a plurality of relative orientations of an object. Each such relative orientation may define a spatial orientation of the object relative to direction of movement of the object. Based on the determined safety levels, the robotic system may then determine, for each of the plurality of relative orientations, a velocity limit for movement of the object with a particular relative orientation. Based at least in part on the determined velocity limits, the robotic system may then determine a path for moving the object from a first location to a second location. As such, the robotic system may move the object from the first location to the second location based on the determined path.

Abstract: An example system includes one or more laser sensors on a robotic device, where the one or more laser sensors are configured to produce laser sensor data indicative of a first area within a first distance in front of the robotic device. The system further includes one or more stereo sensors on the robotic device, where the stereo sensors on the robotic device are configured to produce stereo sensor data indicative of a second area past a second distance in front of the robotic device. The system also includes a controller configured to receive the laser sensor data, receive the stereo sensor data, detect one or more objects in front of the robotic device based on at least one of the laser sensor data and the stereo sensor data, and provide instructions for the robotic device to navigate based on the one or more detected objects.

Abstract: Example systems and methods are disclosed for limiting capabilities of a robot during teleoperation based on a network connection strength. The method may include determining tiers of operations that can be performed by a robot. One or more network strength thresholds corresponding to one or more of the tiers of operations of the robot may also be determined. The robot may then measure the network strength for the communication network between the robot and a remote control system. Based on the measured network strength and the determined network strength thresholds, one or more of the tiers of operations may be enabled for selection by the remote control system. The robot may determine network strength based on network latency and/or packet loss rate. The robot may provide a notification to the remote control system about the disabling of a previously enabled tier of operations due to decreased network strength.

Abstract: Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.

Abstract: An example method includes determining a depth map of at least one static surface of a building, where the depth map includes a plurality of surface contours. The method further includes receiving sensor data from one or more sensors on a robotic device that is located in the building. The method also includes determining a plurality of respective distances between the robotic device and a plurality of respective detected points on the at least one static surface of the building. The method additionally includes identifying at least one surface contour that includes the plurality of respective detected points. The method further includes determining a position of the robotic device in the building that aligns the at least one identified surface contour with at least one corresponding surface contour in the depth map.