Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.

Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.

Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for that pose. Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node—and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and using a spatio-temporal model that defines pose values for a plurality of objects in an environment and corresponding times associated with the pose values. Some implementations relate to using observations for one or more robots in an environment to generate a spatio-temporal model that defines pose values and corresponding times for multiple objects in the environment. In some of those implementations, the model is generated based on uncertainty measures associated with the pose values. Some implementations relate to utilizing a generated spatio-temporal model to determine the pose for each of one or more objects an environment at a target time. The pose for an object at a target time is determined based on one or more pose values for the object selected based on a corresponding measurement time, uncertainty measure, and/or source associated with the pose values.

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and using a spatio-temporal model that defines pose values for a plurality of objects in an environment and corresponding times associated with the pose values. Some implementations relate to using observations for one or more robots in an environment to generate a spatio-temporal model that defines pose values and corresponding times for multiple objects in the environment. In some of those implementations, the model is generated based on uncertainty measures associated with the pose values. Some implementations relate to utilizing a generated spatio-temporal model to determine the pose for each of one or more objects an environment at a target time. The pose for an object at a target time is determined based on one or more pose values for the object selected based on a corresponding measurement time, uncertainty measure, and/or source associated with the pose values.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for that pose. Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node—and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.

Abstract: Systems and methods are provided for generating maps with semantic labels. A computing device can determine a first map that includes features located at first positions and semantic labels located at semantic positions, and determine a second map that includes at least some of the features located at second positions. The computing device can identify a first region with fixed features located at first positions and corresponding equivalent second positions. The computing device can identify a second region with moved features located at first positions and corresponding non-equivalent second positions. The computing device can determine one or more transformations between first positions and second positions. The computing device can assign the semantic labels to the second map at second semantic positions, where the second semantic positions are the same in the first region, and where the second semantic positions in the second region are based on the transformation(s).

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract: Systems and methods are provided for generating maps with semantic labels. A computing device can determine a first map that includes features located at first positions and semantic labels located at semantic positions, and determine a second map that includes at least some of the features located at second positions. The computing device can identify a first region with fixed features located at first positions and corresponding equivalent second positions. The computing device can identify a second region with moved features located at first positions and corresponding non-equivalent second positions. The computing device can determine one or more transformations between first positions and second positions. The computing device can assign the semantic labels to the second map at second semantic positions, where the second semantic positions are the same in the first region, and where the second semantic positions in the second region are based on the transformation(s).

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.