Patents by Inventor Shahab KAYNAMA
Shahab KAYNAMA 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: 11960300Abstract: There is provided a driver-support system for use with a human-operated material-transport vehicle, and methods for using the same. The system has at least one sensor, a human-vehicle interface, and a transceiver for communicating with a fleet-management system. The system also has a processor that is configured to provide a mapping application and a localization application based on information received from the sensor. The mapping application and localization application may be provided in a single localization-and-mapping (“SLAM”) application, which may obtain input from the sensor, for example, when the sensor is an optical sensor such as a LiDAR or video camera.Type: GrantFiled: May 20, 2021Date of Patent: April 16, 2024Assignee: CLEARPATH ROBOTICS INC.Inventors: Ryan Christopher Gariepy, Matthew Allen Rendall, Simon Drexler, Roydyn Clayton, Shahab Kaynama
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Patent number: 11945443Abstract: Methods and systems are provided for traction detection and control of a self-driving vehicle. The self-driving vehicle has drive motors that drive drive-wheels according to a drive-motor speed. Traction detection and control can be obtained by measuring the vehicle speed with a sensor such as a LiDAR or video camera, and measuring the wheel speed of the drive wheels with a sensor such as a rotary encoder. The difference between the measured vehicle speed and the measured wheel speeds can be used to determine if a loss of traction has occurred in any of the wheels. If a loss of traction is detected, then a recovery strategy can be selected from a list of recovery strategies in order to reduce the effects of the loss of traction.Type: GrantFiled: July 14, 2021Date of Patent: April 2, 2024Assignee: CLEARPATH ROBOTICS INC.Inventors: Ryan Christopher Gariepy, Shahab Kaynama
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Publication number: 20240017741Abstract: Aspects of the disclosure provide controlling an autonomous vehicle. For example, a first trajectory generated by a first planning system may be received. A portion of the first trajectory may be input into a second planning system. A second trajectory generated by the second planning system based on the portion of the first trajectory may be received. The second trajectory may be used to determine whether to validate the first trajectory, and when the second trajectory is determined to be validated, the autonomous vehicle may be enabled to be controlled based on the first trajectory.Type: ApplicationFiled: July 13, 2022Publication date: January 18, 2024Inventors: Oskar Sandberg, Daniel Sparks, Shahab Kaynama, Jonathan Mulligan
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Patent number: 11714388Abstract: A method includes obtaining a time-series of training samples that include one or more states, a ground truth value, an output value produced in the presence of the one or more states, and an actual error value that is defined as a difference between the ground truth value and the output value. The method also includes training a machine learning model using the time-series of training samples such that the machine learning model is configured to determine a condition-dependent error distribution for a current time step based on simulated states for the current time step.Type: GrantFiled: July 12, 2019Date of Patent: August 1, 2023Assignee: APPLE INC.Inventors: Ashish Shrivastava, Cuneyt Oncel Tuzel, Shahab Kaynama
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Publication number: 20220214698Abstract: Systems and methods for providing inter-vehicle communication are disclosed. The method includes receiving, at a fleet management system, operating data from one or more self-driving vehicles via a communication network, and operating the fleet management system to determine a characteristic of a set of vehicles of one or more self-driving vehicles satisfies at least one communication condition. In response to determining the set of vehicles satisfies the at least one communication condition, the fleet management system can operate to select a stored data portion from a manager storage unit based at least on the characteristic of the set of vehicles; and transmit the data portion to the set of vehicles via the communication network. A method of providing inter-vehicle communication between one or more self-driving vehicles is also disclosed.Type: ApplicationFiled: January 13, 2022Publication date: July 7, 2022Applicant: Clearpath Robotics Inc.Inventors: Smriti Chopra, Ryan Christopher Gariepy, Shahab Kaynama, Pavel Bovbel, Andrei Petru Ionescu, Jason Mercer
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Publication number: 20220194441Abstract: A system for path control for a mobile unmanned vehicle in an environment is provided. The system includes: a sensor connected to the mobile unmanned vehicle; the mobile unmanned vehicle configured to initiate a first fail-safe routine responsive to detection of an object in a first sensor region adjacent to the sensor; and a processor connected to the mobile unmanned vehicle. The processor is configured to: generate a current path based on a map of the environment; based on the current path, issue velocity commands to cause the mobile unmanned vehicle to execute the current path; responsive to detection of an obstacle in a second sensor region, initiate a second fail-safe routine in the mobile unmanned vehicle to avoid entry of the obstacle into the first sensor region and initiation of the first fail-safe routine.Type: ApplicationFiled: December 2, 2021Publication date: June 23, 2022Inventors: Ryan Christopher Gariepy, Alex Bencz, Yan Ma, Michael Irvine, Shahab Kaynama, James Servos, Peiyi Chen
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Publication number: 20220055626Abstract: Methods and systems are provided for traction detection and control of a self-driving vehicle. The self-driving vehicle has drive motors that drive drive-wheels according to a drive-motor speed. Traction detection and control can be obtained by measuring the vehicle speed with a sensor such as a LiDAR or video camera, and measuring the wheel speed of the drive wheels with a sensor such as a rotary encoder. The difference between the measured vehicle speed and the measured wheel speeds can be used to determine if a loss of traction has occurred in any of the wheels. If a loss of traction is detected, then a recovery strategy can be selected from a list of recovery strategies in order to reduce the effects of the loss of traction.Type: ApplicationFiled: July 14, 2021Publication date: February 24, 2022Inventors: Ryan Christopher Gariepy, Shahab Kaynama
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Patent number: 11256270Abstract: Systems and methods for providing inter-vehicle communication are disclosed. The method includes receiving, at a fleet management system, operating data from one or more self-driving vehicles via a communication network, and operating the fleet management system to determine a characteristic of a set of vehicles of one or more self-driving vehicles satisfies at least one communication condition. In response to determining the set of vehicles satisfies the at least one communication condition, the fleet management system can operate to select a stored data portion from a manager storage unit based at least on the characteristic of the set of vehicles; and transmit the data portion to the set of vehicles via the communication network. A method of providing inter-vehicle communication between one or more self-driving vehicles is also disclosed.Type: GrantFiled: February 6, 2019Date of Patent: February 22, 2022Assignee: Clearpath Robotics Inc.Inventors: Smriti Chopra, Ryan Christopher Gariepy, Shahab Kaynama, Pavel Bovbel, Andrei Petru Ionescu, Jason Mercer
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Patent number: 11225275Abstract: A system for path control for a mobile unmanned vehicle in an environment is provided. The system includes: a sensor connected to the mobile unmanned vehicle; the mobile unmanned vehicle configured to initiate a first fail-safe routine responsive to detection of an object in a first sensor region adjacent to the sensor; and a processor connected to the mobile unmanned vehicle. The processor is configured to: generate a current path based on a map of the environment; based on the current path, issue velocity commands to cause the mobile unmanned vehicle to execute the current path; responsive to detection of an obstacle in a second sensor region, initiate a second fail-safe routine in the mobile unmanned vehicle to avoid entry of the obstacle into the first sensor region and initiation of the first fail-safe routine.Type: GrantFiled: September 10, 2020Date of Patent: January 18, 2022Assignee: CLEARPATH ROBOTICS INC.Inventors: Ryan Christopher Gariepy, Alex Bencz, Yan Ma, Michael Irvine, Shahab Kaynama, James Servos, Peiyi Chen
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Publication number: 20210382500Abstract: There is provided a driver-support system for use with a human-operated material-transport vehicle, and methods for using the same. The system has at least one sensor, a human-vehicle interface, and a transceiver for communicating with a fleet-management system. The system also has a processor that is configured to provide a mapping application and a localization application based on information received from the sensor. The mapping application and localization application may be provided in a single localization-and-mapping (“SLAM”) application, which may obtain input from the sensor, for example, when the sensor is an optical sensor such as a LiDAR or video camera.Type: ApplicationFiled: May 20, 2021Publication date: December 9, 2021Inventors: Ryan Christopher Gariepy, Matthew Allen Rendall, Simon Drexler, Roydyn Clayton, Shahab Kaynama
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Publication number: 20210370960Abstract: The various embodiments described herein generally relate to systems and methods for monitoring an operation of one or more self-driving vehicles. The method involves operating a vehicle processor of a self-driving vehicle to: collect, during operation, operation data associated with the operation of the self-driving vehicle; detect, from the operation data, a trigger condition is satisfied during the operation; determine, for the trigger condition, a pre-condition period and a post-condition period, the pre-condition period defining a time period before the trigger condition occurred and the post-condition period defining a time period following the trigger condition; retrieve, from a vehicle data storage, the subset of the operation data collected by the self-driving vehicle during the pre-condition period and the post-condition period; and transmit the subset of the operation data to the data analysis system.Type: ApplicationFiled: January 29, 2021Publication date: December 2, 2021Inventors: Guillaume Michel Autran, Jin-Myung Won, James Servos, Ryan Christopher Gariepy, Shahab Kaynama
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Publication number: 20210311475Abstract: Systems, methods and apparatus are provided for handling operational constraints for unmanned vehicles. The system includes: a plurality of mobile unmanned vehicles for deployment in an environment; a computing device connected to the plurality of unmanned vehicles via a network, the computing device storing, in a memory, a plurality of operational constraints; each operational constraint including (i) a type identifier, (ii) an indication of a region of the environment, and (iii) a property defining a constraint on the operation of the unmanned vehicles within the region. The computing device is configured to: receive a request from one of the mobile unmanned vehicles, the request identifying an operational constraint; responsive to receiving the request, retrieve an operational constraint from the memory based on the request; and send the retrieved operational constraint to the one of the mobile unmanned vehicles.Type: ApplicationFiled: February 25, 2021Publication date: October 7, 2021Inventors: Ryan Christopher Gariepy, Alex Bencz, Andrew Clifford Blakey, Shahab Kaynama, James Servos
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Patent number: 11097736Abstract: Methods and systems are provided for traction detection and control of a self-driving vehicle. The self-driving vehicle has drive motors that drive drive-wheels according to a drive-motor speed. Traction detection and control can be obtained by measuring the vehicle speed with a sensor such as a LiDAR or video camera, and measuring the wheel speed of the drive wheels with a sensor such as a rotary encoder. The difference between the measured vehicle speed and the measured wheel speeds can be used to determine if a loss of traction has occurred in any of the wheels. If a loss of traction is detected, then a recovery strategy can be selected from a list of recovery strategies in order to reduce the effects of the loss of traction.Type: GrantFiled: February 26, 2018Date of Patent: August 24, 2021Assignee: CLEARPATH ROBOTICS INC.Inventors: Ryan Christopher Gariepy, Shahab Kaynama
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Patent number: 11054840Abstract: There is provided a driver-support system for use with a human-operated material-transport vehicle, and methods for using the same. The system has at least one sensor, a human-vehicle interface, and a transceiver for communicating with a fleet-management system. The system also has a processor that is configured to provide a mapping application and a localization application based on information received from the sensor. The mapping application and localization application may be provided in a single localization-and-mapping (“SLAM”) application, which may obtain input from the sensor, for example, when the sensor is an optical sensor such as a LiDAR or video camera.Type: GrantFiled: January 31, 2020Date of Patent: July 6, 2021Assignee: CLEARPATH ROBOTICS INC.Inventors: Ryan Christopher Gariepy, Matthew Allen Rendall, Simon Drexler, Roydyn Clayton, Shahab Kaynama
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Patent number: 10990100Abstract: Systems, methods and apparatus are provided for handling operational constraints for unmanned vehicles. The system includes: a plurality of mobile unmanned vehicles for deployment in an environment; a computing device connected to the plurality of unmanned vehicles via a network, the computing device storing, in a memory, a plurality of operational constraints; each operational constraint including (i) a type identifier, (ii) an indication of a region of the environment, and (iii) a property defining a constraint on the operation of the unmanned vehicles within the region. The computing device is configured to: receive a request from one of the mobile unmanned vehicles, the request identifying an operational constraint; responsive to receiving the request, retrieve an operational constraint from the memory based on the request; and send the retrieved operational constraint to the one of the mobile unmanned vehicles.Type: GrantFiled: March 1, 2019Date of Patent: April 27, 2021Assignee: CLEARPATH ROBOTICS INC.Inventors: Ryan Christopher Gariepy, Alex Bencz, Andrew Clifford Blakey, Shahab Kaynama, James Servos
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Patent number: 10955845Abstract: Systems, methods and apparatus are provided for handling operational constraints for unmanned vehicles. The system includes: a plurality of mobile unmanned vehicles for deployment in an environment; a computing device connected to the plurality of unmanned vehicles via a network, the computing device storing, in a memory, a plurality of operational constraints; each operational constraint including (i) a type identifier, (ii) an indication of a region of the environment, and (iii) a property defining a constraint on the operation of the unmanned vehicles within the region. The computing device is configured to: receive a request from one of the mobile unmanned vehicles, the request identifying an operational constraint; responsive to receiving the request, retrieve an operational constraint from the memory based on the request; and send the retrieved operational constraint to the one of the mobile unmanned vehicles.Type: GrantFiled: March 1, 2019Date of Patent: March 23, 2021Assignee: CLEARPATH ROBOTICS INC.Inventors: Ryan Christopher Gariepy, Alex Bencz, Andrew Clifford Blakey, Shahab Kaynama, James Servos
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Publication number: 20210061323Abstract: A system for path control for a mobile unmanned vehicle in an environment is provided. The system includes: a sensor connected to the mobile unmanned vehicle; the mobile unmanned vehicle configured to initiate a first fail-safe routine responsive to detection of an object in a first sensor region adjacent to the sensor; and a processor connected to the mobile unmanned vehicle. The processor is configured to: generate a current path based on a map of the environment; based on the current path, issue velocity commands to cause the mobile unmanned vehicle to execute the current path; responsive to detection of an obstacle in a second sensor region, initiate a second fail-safe routine in the mobile unmanned vehicle to avoid entry of the obstacle into the first sensor region and initiation of the first fail-safe routine.Type: ApplicationFiled: September 10, 2020Publication date: March 4, 2021Inventors: Ryan Christopher Gariepy, Alex Bencz, Yan Ma, Michael Irvine, Shahab Kaynama, James Servos, Peiyi Chen
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Publication number: 20200398850Abstract: Methods and systems are provided for traction detection and control of a self-driving vehicle. The self-driving vehicle has drive motors that drive drive-wheels according to a drive-motor speed. Traction detection and control can be obtained by measuring the vehicle speed with a sensor such as a LiDAR or video camera, and measuring the wheel speed of the drive wheels with a sensor such as a rotary encoder. The difference between the measured vehicle speed and the measured wheel speeds can be used to determine if a loss of traction has occurred in any of the wheels. If a loss of traction is detected, then a recovery strategy can be selected from a list of recovery strategies in order to reduce the effects of the loss of traction.Type: ApplicationFiled: February 26, 2018Publication date: December 24, 2020Inventors: Ryan Christopher Gariepy, Shahab Kaynama
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Patent number: 10814891Abstract: Systems and methods for obstacle avoidance with a self-driving vehicle are provided. The system comprises a processor connected to the self-driving vehicle and a sensor in communication with the processor. The sensor is configured to detect objects. The processor is configured to receive a measurement of the self-driving vehicle's speed, and define a sensor region based on the speed. The processor can determine that an object detected by the sensor is within the sensor region, and then initiate a fail-safe routine. The sensor region may be defined based on a range parameter. The sensor region may be defined based on the stopping distance of the vehicle. The sensor region may be redefined when the vehicle's speed changes.Type: GrantFiled: February 27, 2018Date of Patent: October 27, 2020Assignee: CLEARPATH ROBOTICS INC.Inventors: Ryan Christopher Gariepy, Alex Bencz, Yan Ma, Michael Irvine, Shahab Kaynama, James Servos, Peiyi Chen
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Publication number: 20200241560Abstract: There is provided a driver-support system for use with a human-operated material-transport vehicle, and methods for using the same. The system has at least one sensor, a human-vehicle interface, and a transceiver for communicating with a fleet-management system. The system also has a processor that is configured to provide a mapping application and a localization application based on information received from the sensor. The mapping application and localization application may be provided in a single localization-and-mapping (“SLAM”) application, which may obtain input from the sensor, for example, when the sensor is an optical sensor such as a LiDAR or video camera.Type: ApplicationFiled: January 31, 2020Publication date: July 30, 2020Inventors: Ryan Christopher Gariepy, Matthew Allen Rendall, Simon Drexler, Roydyn Clayton, Shahab Kaynama