Patents by Inventor Vazgen Karapetyan
Vazgen Karapetyan 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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Publication number: 20230384795Abstract: Robot localization or mapping can be provided without requiring the expense or complexity an “at-a-distance” sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and dock-based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.Type: ApplicationFiled: May 26, 2023Publication date: November 30, 2023Inventors: Vazgen Karapetyan, Artem Gritsenko, Zacharias Psarakis, Guanlai Li, Daniele Tamino
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Patent number: 11662743Abstract: Robot localization or mapping can be provided without requiring the expense or complexity an “at-a-distance” sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and docks based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.Type: GrantFiled: September 15, 2020Date of Patent: May 30, 2023Assignee: iRobot CorporationInventors: Vazgen Karapetyan, Artem Gritsenko, Zacharias Psarakis, Guanlai Li, Daniele Tamino
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Publication number: 20220183529Abstract: An autonomous mobile robot includes a drive system to support the robot above a surface, a sensor system configured to generate a signal indicative of a location of the robot on the surface, and a controller operably connected to the drive system and the sensor system. The drive system is operable to navigate the robot about the surface. The controller is configured to execute instructions to perform operations including establishing a behavior control zone on the surface, controlling the drive system, in response to establishing the behavior control zone on the surface, to maneuver the robot to a location of the behavior control zone on the surface, and maneuvering, using the drive system, the robot about the surface and initiating a behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate the behavior control zone.Type: ApplicationFiled: March 7, 2022Publication date: June 16, 2022Inventors: Mario Munich, Philip Fong, Vazgen Karapetyan, Andreas Kolling
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Publication number: 20220080592Abstract: Robot localization or mapping can be provided without requiring the expense or complexity an “at-a-distance” sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and docks based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.Type: ApplicationFiled: September 15, 2020Publication date: March 17, 2022Inventors: Vazgen Karapetyan, Artem Gritsenko, Zacharias Psarakis, Guanlai Li, Daniele Tamino
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Patent number: 11266287Abstract: An autonomous mobile robot includes a drive system to support the robot above a surface, a sensor system configured to generate a signal indicative of a location of the robot on the surface, and a controller operably connected to the drive system and the sensor system. The drive system is operable to navigate the robot about the surface. The controller is configured to execute instructions to perform operations including establishing a behavior control zone on the surface, controlling the drive system, in response to establishing the behavior control zone on the surface, to maneuver the robot to a location of the behavior control zone on the surface, and maneuvering, using the drive system, the robot about the surface and initiating a behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate the behavior control zone.Type: GrantFiled: May 29, 2019Date of Patent: March 8, 2022Assignee: iRobot CorporationInventors: Mario Munich, Philip Fong, Vazgen Karapetyan, Andreas Kolling
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Publication number: 20200375429Abstract: An autonomous mobile robot includes a drive system to support the robot above a surface, a sensor system configured to generate a signal indicative of a location of the robot on the surface, and a controller operably connected to the drive system and the sensor system. The drive system is operable to navigate the robot about the surface. The controller is configured to execute instructions to perform operations including establishing a behavior control zone on the surface, controlling the drive system, in response to establishing the behavior control zone on the surface, to maneuver the robot to a location of the behavior control zone on the surface, and maneuvering, using the drive system, the robot about the surface and initiating a behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate the behavior control zone.Type: ApplicationFiled: May 29, 2019Publication date: December 3, 2020Inventors: Mario Munich, Philip Fong, Vazgen Karapetyan, Andreas Kolling
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Patent number: 10575696Abstract: A method for docking an autonomous mobile floor cleaning robot with a charging dock, the robot including a receiver coil and a structured light sensor, the charging dock including a docking bay and a transmitter coil, includes: positioning the robot in a prescribed docked position in the docking bay using the structured light sensor and by sensing a magnetic field emanating from the transmitter coil; and thereafter induction charging the robot using the receiver coil and the transmitter coil with the robot in the docked position.Type: GrantFiled: July 12, 2017Date of Patent: March 3, 2020Assignee: iRobot CorporationInventors: John P. O'Brien, Vazgen Karapetyan, William Morris
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Patent number: 10335004Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.Type: GrantFiled: December 23, 2016Date of Patent: July 2, 2019Assignee: iRobot CorporationInventors: Philip Fong, Jason Meltzer, Jens-Steffen Gutmann, Vazgen Karapetyan, Mario E. Munich
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Publication number: 20180014709Abstract: A method for docking an autonomous mobile floor cleaning robot with a charging dock, the robot including a receiver coil and a structured light sensor, the charging dock including a docking bay and a transmitter coil, includes: positioning the robot in a prescribed docked position in the docking bay using the structured light sensor and by sensing a magnetic field emanating from the transmitter coil; and thereafter induction charging the robot using the receiver coil and the transmitter coil with the robot in the docked position.Type: ApplicationFiled: July 12, 2017Publication date: January 18, 2018Inventors: John P. O'Brien, Vazgen Karapetyan, William Morris
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Publication number: 20170105592Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.Type: ApplicationFiled: December 23, 2016Publication date: April 20, 2017Inventors: Philip Fong, Jason Meltzer, Jens-Steffen Gutmann, Vazgen Karapetyan, Mario E. Munich
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Patent number: 9538892Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.Type: GrantFiled: October 5, 2013Date of Patent: January 10, 2017Assignee: iRobot CorporationInventors: Philip Fong, Jason Meltzer, Steffen Gutmann, Vazgen Karapetyan, Mario E. Munich
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Patent number: 9468349Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.Type: GrantFiled: November 20, 2015Date of Patent: October 18, 2016Assignee: iRobot CorporationInventors: Philip Fong, Jason Meltzer, Jens-Steffen Gutmann, Vazgen Karapetyan, Mario Munich
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Publication number: 20160143500Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.Type: ApplicationFiled: November 20, 2015Publication date: May 26, 2016Inventors: Philip Fong, Jason Meltzer, Jens-Steffen Gutmann, Vazgen Karapetyan, Mario E. Munich
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Publication number: 20140100693Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.Type: ApplicationFiled: October 5, 2013Publication date: April 10, 2014Applicant: iRobot CorporationInventors: Philip Fong, Jason Meltzer, Steffen Gutmann, Vazgen Karapetyan, Mario E. Munich