Patents by Inventor Paolo Pirjanian
Paolo Pirjanian has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 9188983Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.Type: GrantFiled: April 11, 2014Date of Patent: November 17, 2015Assignee: iROBOT CORPORATIONInventors: Michael S. Stout, Gabriel Francis Brisson, Enrico Di Bernardo, Paolo Pirjanian, Dhiraj Goel, James Philip Case, Michael Dooley
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Publication number: 20150316930Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.Type: ApplicationFiled: July 10, 2015Publication date: November 5, 2015Inventors: L. Niklas Karlsson, Paolo Pirjanian, Luis Filipe Domingues Goncalves, Enrico Di Bernardo
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Patent number: 9110470Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.Type: GrantFiled: May 6, 2014Date of Patent: August 18, 2015Assignee: iRobot CorporationInventors: L. Niklas Karlsson, Paolo Pirjanian, Luis Filipe Domingues Goncalves, Enrico Di Bernardo
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Publication number: 20150168954Abstract: An obstacle detector for a mobile robot while the robot is in motion is disclosed. The detector preferably includes at least one light source configured to project pulsed light in the path of the robot; a visual sensor for capturing a plurality of images of light reflected from the path of the robot; a processing unit configured to extract the reflections from the images; and an obstacle detection unit configured to detect an obstacle in the path of the robot based on the extracted reflections. In the preferred embodiment, the reflections of the projected light are extracted by subtracting pairs of images in which each pair includes a first image captured with the at least one light source on and a second image captured with the at least one light source off, and then combining images of two or more extracted reflections to suppress the background.Type: ApplicationFiled: March 2, 2015Publication date: June 18, 2015Inventors: Kevin Hickerson, Luis Goncalves, Paolo Pirjanian, Nikolai Romanov
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Patent number: 9026302Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.Type: GrantFiled: November 5, 2010Date of Patent: May 5, 2015Assignee: iRobot CorporationInventors: Michael S. Stout, Gabriel Francis Brisson, Enrico Di Bernardo, Paolo Pirjanian, Dhiraj Goel, James Philip Case, Michael Dooley
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Patent number: 9002511Abstract: An obstacle detector for a mobile robot while the robot is in motion is disclosed. The detector preferably includes at least one light source configured to project pulsed light in the path of the robot; a visual sensor for capturing a plurality of images of light reflected from the path of the robot; a processing unit configured to extract the reflections from the images; and an obstacle detection unit configured to detect an obstacle in the path of the robot based on the extracted reflections. In the preferred embodiment, the reflections of the projected light are extracted by subtracting pairs of images in which each pair includes a first image captured with the at least one light source on and a second image captured with the at least one light source off, and then combining images of two or more extracted reflections to suppress the background.Type: GrantFiled: October 20, 2006Date of Patent: April 7, 2015Assignee: iRobot CorporationInventors: Kevin Hickerson, Luis Goncalves, Paolo Pirjanian, Nikolai Romanov
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Patent number: 8996168Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.Type: GrantFiled: April 11, 2011Date of Patent: March 31, 2015Assignee: iRobot CorporationInventors: Thomas J. Murray, IV, Baoquoc N. Pham, Paolo Pirjanian
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Publication number: 20140268179Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.Type: ApplicationFiled: June 2, 2014Publication date: September 18, 2014Applicant: iRobot CorporationInventors: Enrico DiBernado, Paolo Pirjanian
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Patent number: 8830091Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.Type: GrantFiled: August 12, 2013Date of Patent: September 9, 2014Assignee: iRobot CorporationInventors: L. Niklas Karlsson, Paolo Pirjanian, Luis Filipe Domingues Goncalves, Enrico Di Bernardo
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Publication number: 20140244038Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.Type: ApplicationFiled: May 6, 2014Publication date: August 28, 2014Applicant: iRobot CorporationInventors: L. Niklas Karlsson, Paolo Pirjanian, Luis Filipe Domingues Goncalves, Enrico Di Bernardo
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Publication number: 20140229004Abstract: An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.Type: ApplicationFiled: April 17, 2014Publication date: August 14, 2014Applicant: iRobot CorporationInventors: Michael Dooley, Nikolai Romanov, Paolo Pirjanian
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Publication number: 20140222279Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.Type: ApplicationFiled: April 11, 2014Publication date: August 7, 2014Applicant: iRobot CorporationInventors: Michael S. Stout, Gabriel Francis Brisson, Enrico Di Bernardo, Paolo Pirjanian, Dhiraj Goel, James Philip Case, Michael Dooley
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Patent number: 8780342Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.Type: GrantFiled: October 12, 2012Date of Patent: July 15, 2014Assignee: iRobot CorporationInventors: Enrico DiBernardo, Paolo Pirjanian
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Patent number: 8632376Abstract: A vehicle chase game includes a first game object and a second game object. A second game object scans for a projected spot on an overhead surface. The second game object detects the projected spot on the overhead surface and gathers location information based on the detected projected spot. The second game object generates a position of a first game object based on the location information. The second game object transfers the position of the first game object to the chase game application program. The chase game application program selects a behavior based on the position of the first game object, where a goal of the behavior is to drive the second game object to intercept the first game object. The chase game application program sends instructions to the second game object's mechanical and electrical systems to execute the selected behaviors.Type: GrantFiled: September 19, 2008Date of Patent: January 21, 2014Assignee: IRobot CorporationInventors: Michael Dooley, Nikolai Romanov, Paolo Pirjanian, Lihu Chiu, Enrico Di Bernardo
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Publication number: 20130331987Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.Type: ApplicationFiled: August 12, 2013Publication date: December 12, 2013Applicant: iRobot CorporationInventors: L. Niklas Karlsson, Paolo Pirjanian, Luis Filipe Domingues Goncalves, Enrico Di Bernardo
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Publication number: 20130245937Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.Type: ApplicationFiled: October 12, 2012Publication date: September 19, 2013Applicant: EVOLUTION ROBOTICS, INC.Inventors: Enrico DiBernardo, Paolo Pirjanian
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Patent number: 8508388Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.Type: GrantFiled: September 13, 2012Date of Patent: August 13, 2013Assignee: Irobot CorporationInventors: L. Niklas Karlsson, Paolo Pirjanian, Luis Filipe Domingues Goncalves, Enrico Di Bernardo
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Patent number: 8452450Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.Type: GrantFiled: April 24, 2009Date of Patent: May 28, 2013Assignee: Evolution Robotics, Inc.Inventors: Michael Dooley, Paolo Pirjanian, Nikolai Romanov, Lihu Chiu, Enrico Di Bernardo, Michael Stout, Gabriel Brisson
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Patent number: 8393971Abstract: A vehicle chase game includes a first game object and a second game object. A second game object scans for a projected spot on an overhead surface. The second game object detects the projected spot on the overhead surface and gathers location information based on the detected projected spot. The second game object generates a position of a first game object based on the location information. The second game object transfers the position of the first game object to the chase game application program. The chase game application program selects a behavior based on the position of the first game object, where a goal of the behavior is to drive the second game object to intercept the first game object. The chase game application program sends instructions to the second game object's mechanical and electrical systems to execute the selected behaviors.Type: GrantFiled: September 19, 2008Date of Patent: March 12, 2013Assignee: Evolution Robotics, Inc.Inventors: Michael Dooley, Nikolai Romanov, Paolo Pirjanian, Lihu Chiu, Enrico Di Bernardo
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Publication number: 20130006420Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.Type: ApplicationFiled: September 13, 2012Publication date: January 3, 2013Applicant: Evolution Robotics, Inc.Inventors: L. Niklas Karlsson, Paolo Pirjanian, Luis Filipe Domingues Goncalves, Enrico Di Bernardo