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

Claim 3:
4. 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 a connection between the AMD and a dock;
retrieve, based on the connection to the dock, first data indicative of a first pose of the AMD;
determine, while connected to the dock and 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, second data indicative of a second pose of the AMD;
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, third data that is indicative of a first relationship of the second pose with respect to the first pose;
determine a second reference pose;
based on the third data, update the map so that the map is relative to the second reference pose; and
move, based on the third data and the map describing the physical space, the AMD to a third pose in the physical space.