Patent ID: 11912304
Assignee: AMAZON TECHNOLOGIES, INC.
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
1. An autonomous mobile device (AMD) comprising:
one or more sensors;
one or more memories storing computer-executable instructions; and
one or more processors to execute the computer-executable instructions to:
determine a map of a physical space relative to a first reference pose;
determine the AMD is connected to a dock, wherein the AMD and the dock are located in the physical space, and wherein the dock is associated with an origin of the map;
determine, based on the AMD being connected to the dock, that the AMD is in a first pose;
determine, using the one or more sensors, first sensor data indicative of a first set of features of the physical space;
determine, based on the first set of features, a second pose relative to the origin of the map;
determine a variance between the first pose and the second pose;
determine that the variance exceeds a variance threshold;
based on the variance exceeding the variance threshold, determine that the dock has moved;
determine, based on the dock having moved, first data that is indicative of a relationship of the first pose with respect to the origin of the map;
determine a second reference pose;
based on the first data and the second reference pose, update the map of the physical space so that the map is relative to the second reference pose; and
move the AMD in the physical space, based on the first data and on the map of the physical space.