Abstract: The degree to which a linearly extending feature, such as a road, curves is indicated using a bowing coefficient. The bowing coefficient at a given location along a linearly extending feature is determined by comparing the distance along the feature between two points on either side of the given location (or an approximation of the distance) to a straight-line distance between these same two points. Bowing coefficient data can be used by various vehicle systems that require information about the curvature of linearly extending features, such as roads upon which the vehicle is traveling.

Abstract: An autonomous multi-platform robot system (100, 1100) for performing at least one functional task in an environment is provided. The system includes at least one navigator platform (110, 1110) providing mapping, localization, planning, and control functions for itself and at least one other platform within the environment and at least one functional robot platform (120, 1120) in communication with one or more navigator platforms for performing one or more functional tasks. In one embodiment, one or more navigator platforms (1110) are stationary and include sensors (202) for sensing information about the environment. In another embodiment, one or more functional robot platforms (1120) include sensors (304) for sending information about the environment. In still another embodiment, the system includes one or more stationary platforms (124) with sensors (310) for sensing information about the environment.

Abstract: The navigation apparatus includes: a current position detection device that detects a current position; a display device; a storage device having stored therein position information related to points used as guidance points when providing route guidance; and a control device that controls the route guidance provided along a guided route which includes a plurality of predetermined guidance points based upon the current position detected by the position detection device and the position information related to the points stored in the storage device, wherein: as the current position approaches a first guidance point closest to the current position, the control device engages the display device to bring up display of an arrow indicating an angle corresponding to a direction to follow to advance toward a second guidance point after the first guidance point.

Abstract: A self-traveling vehicle without requiring guide wire for travel is provided which allows a change of a traveling course with little expense and labor for reconstruction. Such self-traveling vehicle comprises a storing means for storing a travel road to be traveled, a receiving means for receiving a signal from a satellite and a calculating means for calculating a current positional information based on the signals from the satellite. A controlling circuit for controlling the traveling drive and steering wheel drive provided in the vehicle controls the vehicle in such a manner as to travel on a predetermined set road by verifying the current positional information and the road to be traveled.

Abstract: A system including a mobile vehicle, an implement, a position sensor, a controller, a user interface (a touch-screen monitor, video monitor or keypad, as examples), a software program to compute a calibration trajectory, and a steering system for steering the vehicle to the desired or adjusted trajectory based on the error between the vehicle's desired and actual positions. In one embodiment, non-co-located sensing and control combine with a calibration procedure to help eliminate model error. Another embodiment uses co-located sensing (but not control) to calibrate the model.

Abstract: In a method of controlling at least one autonomously driven vehicle, such a vehicle is driven on a restricted traffic surface. For this purpose, the autonomous vehicle has a driving device for implementing driving commands on the basis of fed signals. The driving commands relate to the driving direction as well as to the driving speed. The vehicle detects its actual position by means of a position indicating device, and transmits its position to an operations management center. In the operations management center, a route profile to be driven is determined from position signals by means of definable criteria and is transmitted to the driving device of the vehicle. Driving commands required for driving the route profile are generated in the vehicle by the driving device.

Abstract: The invention relates to remote control of an unmanned aerial vehicle, UAV, (100) from a control station (110) by means of a wireless command link (115). The UAV (100) may be controlled in an autonomous mode wherein it flies according to a primary route (R1, R1′) defined by a first set of predefined waypoints (WP1-WP8, IP). The UAV (100) may also be controlled in a manual mode wherein it flies according to an alternative primary route (R1′) defined in real-time by control commands received via the wireless command link (115). Flight control parameters are monitored in both modes, and in case a major alarm condition occurs, the UAV (100) is controlled to follow an emergency route (R2′) defined by a second set of predefined waypoints (HP1-HP7, TP1-TP9, IP). Particularly, a major alarm condition is activated if an engine failure is detected.

Abstract: In an advanced-cruise-assist highway system, an AHS center facility, which is an upper facility for on-road facilities, periodically receives diagnostic information from the on-road facilities, and when it is determined that any on-road facility is in the faulty state, communicates the information that the on-road facility is in the faulty state to on-road facilities upstream from the faulty on-road facility, and the on-road facilities having received the information on the fault in the downstream on-road facility communicates the information that the downstream on-road facility is in the faulty state via a road-to-vehicle communication facility to AHS vehicles having the possibility of entering a zone under control by the faulty on-road facility. Further the information that the downstream on-road facility is in the faulty state is displayed on information board which can be recognize by vehicles having the possibility of entering a zone under control by the faulty on-road facility.

Abstract: A Driving Route Recording-Move System is disclosed to help people back their vehicles more easily and safely. The Driving Route Recording-Move System takes parameter data like the steering wheel rotation angle, moving speed and direction in real time, processes the data and saves them in a file if needed or updates the data. The recording time for the parameter data can be adjusted based on various needs. When the vehicle needs to be backed up, the previously stored data in memory or saved in a file can then be recalled and processed by a control device of the Driving Route Recording-Move System to rotate the steering wheel in a desired direction to a desired angle thus causing the vehicle to back up while following, except in a reverse direction, the same route through which the vehicle came in earlier.

Abstract: A method for operating a navigation device comprising a central processing unit (100) and a memory medium (130) with a digitized map is disclosed. The method comprises the following steps: inputting a route with start and target coordinates that can be selected on the map; receiving traffic jam data via an external source (140); displaying a calculated route and the respective traffic jam data; and editing said traffic jam data. In the case of acceptance of a traffic jam a possible bypass of the corresponding route section is calculated and displayed, and in the case of non-acceptance the calculated route section is maintained.

Abstract: According to the invention, autonomous carriers or vehicles are efficiently navigated over a field of operation. The carriers are equipped to execute a selected procedure at more than one desired location on the field, and the navigation system of the invention directs the carrier to the location that is preferentially accessible to it, based on a defined criterion. After the carrier has executed the selected procedure at the location which is preferentially accessible to it, the navigation system directs the carrier to the location which is preferentially accessible to the carrier from the carrier's new position. This procedure is repeated until all the locations at which the procedure is to be executed have been reached. The task of determining a navigation route to a location that can be preferentially accessed is based on an efficient, structured search procedure of low computational complexity.

Abstract: A robot cleaner system capable of accurately docking with an external charging apparatus and a method for docking with an external charging apparatus comprising a power supply terminal connected to a supply of utility power, an external charging apparatus including a terminal stand for supporting the power supply terminal and fixing the external charging apparatus at a predetermined location, a driving unit for moving a cleaner body, an upper camera disposed on the cleaner body, for photographing a ceiling, a charging battery disposed in the cleaner body, for being charged by power supplied from the power supply terminal, a bumper disposed along an outer circumference of the cleaner body and outputting a collision signal when a collision with an obstacle is detected, and a robot cleaner disposed at the bumper to be connected with the power supply terminal and including a charging terminal connected to the charging battery, wherein, prior to starting on operation, the robot cleaner photographs an upward-lookin

Abstract: The present invention provides for a method and apparatus for providing navigation and positioning for at least one or more slave vehicles, wherein the slave vehicles provide their own navigation based on a location of a master vehicle. The method and apparatus allow a slave vehicle to receive a location of a master vehicle and a location of the slave vehicle. Once the location of the vehicles are known, the slave vehicle determines a desired position based on the master vehicle location, determines if adjustments are needed to position the first slave vehicle at the desired position and implements the adjustments if adjustments are needed. The slave vehicle is capable of operating in one of a plurality of modes and further is capable of transitioning from a first mode of operation to a second mode of operation in optimizing navigation and control.

Abstract: A method is presented for path planning after changes in task space. In one embodiment, the method is applied to planning a path for a robot arm. The method identifies areas in the configuration space which are affected by the changes in task space. Cost waves can then be repropagated in these affected areas to allow for planning in N dimensions and using space variant metrics. The method is also adapted to use in the presence of phantom obstacles.

Abstract: A map data processing apparatus and a method of obtaining updating operation information indicating updating content of map data, and updating the map data according to the updating operation information obtained.

Abstract: A deployment method maintains a cluster of subsatellites within a rigid formation relative to and orbiting about a real or fictitious center satellite that in turn orbits the earth in a frozen inclined eccentric reference orbit by determining the subsatellite reference orbits of the each of the subsatellites based upon position and velocity vectors of the center satellite. The determined subsatellite reference orbits can then be maintained through fuel efficient microthrusting so as to maintain the rigid formation for coherently combining communication signals within a very large sparse antenna array formed by the cluster having improved beam directionality for improved signal communications.

Abstract: A point at which an external power supply is installed is registered in map data in a map information device as a base point. An EV running area centered on the base point is registered as map data in the map information device, and EV running is performed when a vehicle is in the EV running area.

Abstract: A method of route planning in a navigation system, takes place in three steps. In a first step, a quantity of first travel routes is determined on the basis of an optimization criterion, and location-independent and situation-specific user preferences derived therefrom. In the second step, the first travel routes are recalculated in sub-segments on the basis of location-dependent and situation-specific user preferences. In the third step, the determined travel routes are prioritized on the basis of at least one rating criterion. The intermediate results obtained may be displayed for the user after each step, so that the user may select one of the routes if necessary and thus end the method early. The operating behavior of the user and/or the way in which the user follows the route recommendations may be monitored and statistically evaluated, making it possible to customize the rating criteria and user preferences for route planning.

Abstract: An object of the invention is to provide a position measuring apparatus which can execute a stable accuracy assurance at a high accuracy against a deterioration with age and a temperature fluctuation of the apparatus while making a correction of an existing volumetric measuring accuracy effective.

Abstract: A method for controlling an automatic guided vehicle system having an automatic guided vehicle and a central controller for controlling the automatic guided vehicle is capable of operating with improved operational efficiency. The control method includes the steps of: transmitting of an IMMEDIATE command by the central controller to the automatic guided vehicle; checking by the central controller as to whether the automatic guided vehicle, which is performing the IMMEDIATE command, can receive a NEXT command; transmitting of the NEXT command by the central controller to the automatic guided vehicle; continuous receiving, analyzing, and storing of the NEXT command by the automatic guided vehicle while the automatic guided vehicle receives and performs the IMMEDIATE command; and sequentially performing NEXT commands stored in the automatic guided vehicle after completion of the IMMEDIATE command.

Abstract: A method for manipulating source data to determine a route from a predetermined starting point to a predetermined destination for a means of conveyance, in particular for a motor vehicle, airplane or ship, based on a digital database that includes predetermined route segments ki with correspondingly assigned nodes ni that interconnect respective route segments ki, where respective weights gi are assigned to the route segments ki and/or the nodes ni. The weights gi are varied, as a function of external events, before a route finding algorithm determines the route.

Abstract: A motor vehicle position recognizing system which can ensure high accuracy for an arithmetic processing for determining a vehicle position in a transverse direction of a road by minimizing error involved in the arithmetic processing by suppressing occurrence of discontinuity even when a magnetic sensor whose output is destined for the arithmetic processing is changed over to another one.

Abstract: When a user enters a language to be used via a port terminal, a system controller transfers information as to the language to be used to a navigation unit via an antenna and a communication unit which are mounted on a selected electric vehicle, and the navigation system displays information in the language to be used.

Abstract: A fixed station and an on-board apparatus are constructed to carry out a short range communication. The on-board apparatus specifies an application from a command included in reception data received from the fixed station and starts a corresponding processing, when an acquired command is a menu selection command. A menu including commodities and charges are displayed. When a selected item is determined, the determined content is displayed. When an IC card unit receives an IC card for settling the charge, the charge is settled by rewriting the IC card by data exchange via wireless communication. A short range wireless unit is used to ensure individuality of the communication. This short range communication may also be used at a vehicle repair shop, at a curved corner on a travel path or the like.

Abstract: A method and apparatus for path planning are presented. Path planning involves propagating cost waves in a configuration space representation of a task space. A space variant metric and budding are used for cost wave propagation. The disclosed method and apparatus are readily adaptable to robots with n degrees of freedom.

Abstract: Light detection apparatus for determining the location of a body within a predetermined area comprises at least two light detecting devices (10,10′,10″), supported on the body and capable of receiving light at points which are spaced about a central axis (8). The apparatus further includes means for supplying information representative of the level of light detected by each light detecting device (10, 10′, 10″). Information received from the light detection apparatus is compared with information previously received from the light detection apparatus and stored in a memory so as to identify when the light detected by the light detection apparatus is the same or substantially the same as light previously detected by the light detection apparatus. When used on an autonomous vehicle, this can allow the vehicle to determine when it has returned to a similar position in an area.

Abstract: A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.

Abstract: A robot touch shield device comprising a shell supported by at least one shell support member mounted on a base member, and a sensor device for sensing an exterior force applied to the shell, the sensor device having a base sensor portion having a center and a vertical member, the base sensor portion affixed on the base member, the vertical member affixed on the shell, the vertical member positioned over the center of the base sensor portion, wherein the exterior force applied to the shell translates the shell relative to the base member, the base sensor portion senses a displacement of the vertical member relative to the center of the base sensor portion and produces an output representing at least one of a direction of the exterior force applied and the degree of the exterior force applied.

Abstract: A navigation system is provided with: an operation section that selects a scheduled route along which a vehicle is scheduled to move; a system controller that searches for a different route while the vehicle is moving along the scheduled route, the different route serving to reach a destination for which the mobile unit moves along the scheduled route, and compares the searched different route with the scheduled route for movement of the vehicle from a current position of the vehicle onward; and a display section that gives notice of a comparison result obtained by the controller.

Abstract: If an obstacle (74) is detected, its position is stored in obstacle memory unit (41) on the assumption that the obstacle (74) is common to a plurality of vehicles (2, 2). As vehicles (2, 2) pass by, the content of the obstacle memory unit (44) is updated. When the vehicles (2, 2) are supplied with position data of the respective goal point (72, 72), the vehicles (2, 2) are guided by their goal point (72, 72) in accordance with the content of the obstacle memory unit (41) so that they can avoid the obstacle (74). Vehicles can be thus guided to avoid obstacles by knowing the existence of obstacles in the working sites where the positions of obstacles are always different.

Abstract: A vehicle information system which includes an in-vehicle system 105 and a centralized server system 120. The in-vehicle system communicates with the server system using a wireless communication link 110, such as over a cellular telephone system. A position system, such as a set of GPS satellites 140, provides positioning signals that are used by the in-vehicle systems, and optionally by the centralized server system to increase the accuracy of position estimates. In one version of the system, an operator specifies a destination to an in-vehicle system which validates the destination. The in-vehicle system transmits specification of the destination to a server system 125 at the centralized server. The server system computes a route to the destination and transmits the computed route to the in-vehicle system. The in-vehicle system guides the operator along the route.

Abstract: An autonomous navigating system with obstacle recognition or a method for handling obstacles for an autonomous navigating comprises a sensor having a contact element prestressed in the direction of movement and movable against the prestressed force and a detector measuring the change in position of the contact element, and an evaluating device connected with the sensor which causes the system to stop when the sensor signal is greater or equal to a limit value (UG), and which causes the system to stop, move around the obstacle or move on and thereby displace the obstacle, when the sensor signal is lower than the limit value (UG).

Abstract: A vehicle information system which includes an in-vehicle system 105 and a centralized server system 120. The in-vehicle system communicates with the server system using a wireless communication link 110, such as over a cellular telephone system. A position system, such as a set of GPS satellites 140, provides positioning signals that are used by the in-vehicle systems, and optionally by the centralized server system to increase the accuracy of position estimates. In one version of the system, an operator specifies a destination to an in-vehicle system which validates the destination. The in-vehicle system transmits specification of the destination to a server system 125 at the centralized server. The server system computes a route to the destination and transmits the computed route to the in-vehicle system. The in-vehicle system guides the operator along the route.

Abstract: A method for controlling the movement of agents using local communications is provided. Generally, each agent maintains an optimal distance from other local neighbor agents by, for each agent 200, selecting a local agent 202, measuring the distance and angle to the agent 204, performing a distance maintenance calculation 218, and repeating the distance maintenance calculation 218 for each local agent. In the distance maintenance calculation 218, an attraction/repulsion map is used in order to determine whether an agent is attracted to or repelled from other agents. A motion vector is used to determine agent responses to the attraction or repulsion. Over time, the agents settle into a neutral configuration where each is optimally distanced from the other agents. Reference agents and leader agents can be designated to direct the movement of other agents, and agents can be designated as blocking beacons to repel other agents from undesirable areas.

Abstract: A method and apparatus in a distributed data processing system for locating a facility from a plurality of facilities. Data is collected from the plurality of facilities. The collected data is compared with current data regarding the facilities. Changes present between the collected data and the current data are identified. The current data is updated using the changes. Responsive to a request from a mobile computing system for a location of a facility, a response is sent to the mobile computing system based on the current data and the request.

Abstract: An autonomous mobile robot system allocates mapping, localization, planning and control functions to at least one navigator robot and allocates task performance functions to one or more functional robots. The at least one navigator robot maps the work environment, localizes itself and the functional robots within the map, plans the tasks to be performed by the at least one functional robot, and controls and tracks the functional robot during task performance. The navigator robot performs substantially all calculations for mapping, localization, planning and control for both itself and the functional robots. In one implementation, the navigator robot remains stationary while controlling and moving the functional robot in order to simplify localization calculations. In one embodiment, the navigator robot is equipped with sensors and sensor processing hardware required for these tasks, while the functional robot is not equipped with sensors or hardware employed for these purposes.

Abstract: A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position.

Abstract: A method of controlling controlled elements of a rail vehicle, in which method descriptive geometrical characteristics of the rail track are calculated by measuring inertial values on board the vehicle and control set points for said controlled elements are generated from said characteristics, characterized in that it includes the steps of: determining the location of the vehicle on the rail track on which it is travelling by comparing calculated geometrical characteristics with geometrical characteristics stored in a database (16) and obtained by a learning process; extracting geometrical characteristics corresponding to the next curve from the database (16); and generating control set points for the controlled elements in advance from the extracted characteristics.

Abstract: A control apparatus and method for an autonomous traveling vehicle having a teaching mode in which a vehicle position and a vehicle azimuth in respective points on a running path are memorized and a play-back mode in which the vehicle is operated autonomously based on the vehicle position and vehicle azimuth memorized in the teaching mode comprises a virtual traction point establishing means for establishing a virtual traction point located away from a vehicle position by a specified distance in a direction of a vehicle azimuth, a current vehicle position determining means for determining a current vehicle position corresponding to the vehicle position in a play-back mode, a target azimuth calculating means for calculating a target azimuth based on a positional relationship between the current vehicle position and the virtual traction point, a vehicle steering means for steering the vehicle in a direction of the target azimuth in the play-back mode and a vehicle speed control means for controlling a vehicle s

Abstract: To enable vehicles to travel safely without risk of head-on collision when they have been made to travel on an oncoming lane in order to avoid an obstacle on the original lane. In addition, when travel conditions have been set or changed, it becomes possible to transmit data quickly but a problem of a production efficiency being reduced as a result of all the vehicles being stopped does not arise nor is there a safety problem due to a delay in data changes. On the basis of a monitored result of the travel conditions of the travel track, a no-entry area E is established ahead of a vehicle Jm traveling on one lane of a 2-way dual-lane vehicle track. Then travel instructions are issued to the vehicle Jm, the travel instructions causing it to avoid the no-entry area and travel on a section L of an oncoming lane, a lane whose traffic runs in the opposite direction to the one lane. Travel instructions are issued to an oncoming vehicle Jt traveling on the oncoming lane which prohibits entry to the section L.

Abstract: The present invention provides for a method and apparatus for providing navigation and positioning for at least one or more slave vehicles, wherein the slave vehicles provide their own navigation based on a location of a master vehicle. The method and apparatus allow a slave vehicle to receive a location of a master vehicle and a location of the slave vehicle. Once the location of the vehicles are known, the slave vehicle determines a desired position based on the master vehicle location, determines if adjustments are needed to position the first slave vehicle at the desired position and implements the adjustments if adjustments are needed.

Abstract: The present invention relates to navigation of an autonomous vehicle capable of autonomously tracking a route toward a destination.

Abstract: The present invention is a method and apparatus for controlling a steer center position of an automatic guided vehicle (AGV) of the type that follows a wire. As the automatic vehicle follows a wire, the distance of the AGV from the wire is monitored over a given distance, and an average distance from wire calculated. This value is used to determine a steer center position adjustment, which adjusts the steer center position to maintain the AGV within a predetermined distance of the wire or other path. The present invention is useful in accounting for variations between AGV's based on mechanical linkages and manufacturing differences; differences in steer center position when an AGV is driven in a forward or reverse direction; and changes due to environmental conditions.

Abstract: In a vehicle traffic system, the predetermined nominal trajectory for an autonomous vehicle is varied periodically within acceptable boundaries which define a permitted travel corridor. The corridor's boundaries ensure the continued safe and controlled operation of the vehicle within the system. In an embodiment of the invention, alternative trajectories are selected randomly; in another, they are parallel to one another. In yet another, preferred embodiment, judiciously-selected, alternative trajectories are repeated periodically according to a predetermined schedule designed to avoid repetitive travel over the same precise path, and possibly also selected for optimal results under different terrain, environmental, and/or operational conditions. According to another aspect of the invention, the shape and size of the corridor defining the boundaries for safe operation are varied in response to changed conditions to increase operational flexibility.

Abstract: A system and method for positioning a sample, or cargo, with respect to a device in a robotic system is provided. The system includes a macro positioning system for “gross” movement of the sample between stations and a micro positioning system for precisely locating the sample in a predetermined location at a station with respect to a device that will interact with the sample. The macro positioning system provides a positioning mechanism for the general movement of a sample along a pathway between various destinations or stations wherein the sample is “grossly” positioned with respect to the station. Once at the station, the micro positioning subsystem disposed between a sample carrier and the station provides a positioning mechanism for “precisely” positioning the sample in a predetermined location at the station with respect to a device that will interact with, or perform some function on, the sample.

Abstract: A vehicle-mounted navigation system (1) including: a facility information acquisition device (21) which acquires facility information, wherein the facility information is position information pertaining to the facilities located around the route; a facility selection device (22) which selects, from among the facilities recorded in the facility information, upon consideration of the vehicle's travel direction, facilities whose landmarks are to be displayed on a display section (4); and a landmark display device which displays, on the display section (4), landmarks of the facilities selected by the facility selection device (22) on the basis of the facility information.

Abstract: A fixed station and an on-board apparatus are constructed to carry out a short range communication. The on-board apparatus specifies an application from a command included in reception data received from the fixed station and starts a corresponding processing, when an acquired command is a menu selection command. A menu including commodities and charges are displayed. When a selected item is determined, the determined content is displayed. When an IC card unit receives an IC card for settling the charge, the charge is settled by rewriting the IC card by data exchange via wireless communication. A short range wireless unit is used to ensure individuality of the communication. This short range communication may also be used at a vehicle repair shop, at a curved corner on a travel path or the like.

Abstract: The present invention provides methods and devices that enable correction of gyroscope bias and gyroscope bias drift in low-cost, vehicular navigation and positioning systems without using estimates of position and heading, and subsequent correction of heading and position errors resulting from gyroscope bias and bias drift, without relying on assumptions regarding gyroscope bias or predetermined time-dependent gyroscope bias drift profiles. The invention improves over existing GPS/DR systems that do not compensate for actual gyroscope bias instability, but instead correct the heading and position error that is induced by the bias instability and then correct estimates of gyroscope bias based on the corrected position and heading. The inventive methods provided herein can be used with any DR vehicle positioning system that uses a gyroscope.

Abstract: A method of scheduling a vehicle in real-time to transport freight and passengers. A host receives transportation requests (e.g., to deliver freight, transport passengers, reschedule, cancel, etc.) over a network from a freight terminal and/or a passenger terminal. A route is created at the host with destinations based on the received transportation requests. The host predicts an arrival time and a departure time for each destination along the route and generates a route schedule. As the vehicle travels to each destination, the host receives actual arrival and departure times and uses these actual times to update the route schedule. The route schedule is also updated when new destinations are added or a scheduled destination is cancelled. In another embodiment, the predicted arrival and departure times are updated based on vehicle positioning data received from a global positioning system.

Abstract: An autonomous mobile robot system allocates mapping, localization, planning and control functions to at least one navigator robot and allocates task performance functions to one or more functional robots. The at least one navigator robot maps the work environment, localizes itself and the functional robots within the map, plans the tasks to be performed by the at least one functional robot, and controls and tracks the at least one functional robot during task performance. The at least one navigator robot performs substantially all calculations for mapping, localization, planning and control for both itself and the functional robots. In one implementation, the at least one navigator robot remains stationary while controlling and moving the at least one functional robot in order to simplify localization calculations.