Abstract: A system and a method are disclosed that cause a robot to traverse along a route based on a minimum distance to be maintained between the autonomous mobile robot and an obstacle corresponding to a first mode. The robot determines that the route cannot be continued without a distance between the robot and a detected obstacle becoming less than the minimum distance, and responsively determines whether the route can be continued without the distance between the robot and the detected obstacle becoming less than a second minimum distance less than the initial minimum distance, the second minimum distance corresponding to a second mode. Responsive to determining that the route can be continued without the distance between the autonomous mobile robot and the detected obstacle becoming less than the second minimum distance, the robot is configured to operate in second mode and continues traversal of the route.

Abstract: To load and unload a trailer, an autonomous mobile robot determines its location and the location of objects within the trailer relative to the trailer itself, rather than relative to a warehouse. The autonomous mobile robot determines its location the location of objects within the trailer relative to the trailer. The autonomous mobile robot navigates within the trailer and manipulates objects within the trailer from the trailer's reference frame. Additionally, the autonomous mobile robot uses a centerline heuristic to compute a path for itself within the trailer. A centerline heuristic evaluates nodes within the trailer based on how far away those nodes are from the centerline. If the nodes are further away from the centerline, they are assigned a higher cost. Thus, when the autonomous mobile robot computes a path, the path is more likely to stay near the centerline of the trailer rather than get closer to the sides.

Abstract: To load and unload a trailer, an autonomous mobile robot determines its location and the location of objects within the trailer relative to the trailer itself, rather than relative to a warehouse. The autonomous mobile robot determines its location the location of objects within the trailer relative to the trailer. The autonomous mobile robot navigates within the trailer and manipulates objects within the trailer from the trailer's reference frame. Additionally, the autonomous mobile robot uses a centerline heuristic to compute a path for itself within the trailer. A centerline heuristic evaluates nodes within the trailer based on how far away those nodes are from the centerline. If the nodes are further away from the centerline, they are assigned a higher cost. Thus, when the autonomous mobile robot computes a path, the path is more likely to stay near the centerline of the trailer rather than get closer to the sides.

Abstract: An autonomous mobile robot uses a capability-aware pathfinding algorithm to traverse from a start pose to an end pose efficiently and effectively. The robot receives a start pose and an end pose, and determines a primary path from the start pose to the end pose based on a primary pathfinding algorithm. The robot may smooth the primary path using Bezier curves. The robot may identify a conflict point on the primary path where the robot cannot traverse, and may determine a secondary path from a first point before the conflict point to a second point after the conflict point. The secondary path may use a secondary pathfinding algorithm that uses motion primitives of the robot to generate the secondary path based on the motion capabilities of the robot. The robot may then traverse from the start pose to the end pose based on the primary path and the secondary path.

Abstract: A system and a method are disclosed where a robot operating using a first traversal protocol traverses autonomously along a first route that is defined by markers that are detectable by the robot, wherein the robot is configured to move only based on a presence and type of each marker when the robot is configured to operate based on the first traversal protocol. The robot detects, while traversing along the route, a triggering condition corresponding to a change in operation by the robot from the first traversal protocol to a second traversal protocol. Responsive to detecting the triggering condition, the robot is configured to operate in the second traversal protocol, wherein the robot, when configured to operate based on the second traversal protocol, determines a second route autonomously without regard to a presence of any of the markers.

Abstract: A system and a method are disclosed that cause a robot to traverse along a route based on a minimum distance to be maintained between the autonomous mobile robot and an obstacle corresponding to a first mode. The robot determines that the route cannot be continued without a distance between the robot and a detected obstacle becoming less than the minimum distance, and responsively determines whether the route can be continued without the distance between the robot and the detected obstacle becoming less than a second minimum distance less than the initial minimum distance, the second minimum distance corresponding to a second mode. Responsive to determining that the route can be continued without the distance between the autonomous mobile robot and the detected obstacle becoming less than the second minimum distance, the robot is configured to operate in second mode and continues traversal of the route.