Patent ID: 11960288
Assignee: AMAZON TECHNOLOGIES, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 13:
14. A method comprising:
determining first sensor data associated with a first field-of-view (FOV) from a first sensor of a device at a first pose;
determining, based on the first sensor data, a safe region comprising one or more geographical areas that are clear of obstacles;
determining that the device is to move along a direction that is not viewable by the first FOV of the first sensor;
determining a second pose of the device, based on an occupancy map of a physical space and on the safe region, wherein:
the second pose is indicative of a pose to be used by the device to start moving along the direction,
the second pose is outside of the first FOV of the first sensor at the first pose, and
a structure of the device, as aligned with the second pose, is within the safe region; and

moving the device to the second pose.