Abstract: The structures and algorithms described herein employ look ahead motion planning, in which motion planning for a least two goals is performed before a robot executes the resulting motion plans, and the ability to transition between the preceding one of the motion plans to a subsequent (e.g. following) one of the motions plans is assessed. Thus, the system can determine whether a robot will get trapped (e.g., blocked by another robot) at the end of a first motion plan, preventing, limiting or delaying execution of a second motion plan. Detection of such a condition can cause one or more remedial actions can be taken, for example generating a new, revised or replacement first motion plan. Other remedial action can moving another robot, performing motion planning for the other robot, to alleviate a blocking condition and/or determining a new order for the goals.

Abstract: Systems, methods and user interfaces employ clearance or margin determinations in motion planning and motion control for robots in operational environments, the clearance or margin determinations representing an amount of clearance or margin between at least one portion of a robot and one or more objects in the operational environment. Clearances may be displayed in a presentation of motion, for instance displayed in a presentation of a roadmap or a number of paths in a representation of a three-dimensional environment in which the robot operates. Roadmaps may be adjusted based at least in part of determined clearances, for instance based on user input or autonomously.

Abstract: The structures and algorithms described herein employ staging poses to facilitate the operation robots operating in a shared workspace or workcell, preventing or at least reducing the risk of collision while efficiently moving robots to one or more goals to perform respective tasks. Motion planning can be performed during runtime, and includes identifying one or more staging poses for a robot to advantageously position or configure a robot whose path is blocked or is expected to be blocked by one or more other robots, monitoring the other robots and moving the robot toward a goal in response to the path becoming unblocked or cleared. The staging pose can be identified using various heuristics to efficiently position or configure the robot to complete its task one its path becomes unblocked or cleared.