Patent ID: 11927965
Assignee: AI INCORPORATED
Field: Furniture, games (Other fields)
Classification: CPC A  G  B | IPC B  G

Claim 16:
17. The method of claim 1, further comprising:
comparing, by the processor of the robot, movement of the robot with an intended trajectory of the robot along the planned path; and
correcting, by the processor of the robot, a position of the robot within the map based on at least newly obtained LIDAR data, comprising:
generating, by the processor of the robot, a virtually simulated robot positioned at a first location determined based on the intended trajectory;
generating, by the processor of the robot, a set of virtually simulated robots positioned at locations surrounding the first location, wherein the locations are determined based on simulated offsets due to errors in actuation;
comparing, by the processor of the robot, a map corresponding to a perspective of each virtually simulated robot with at least a part of the newly obtained LIDAR data;
determining, by the processor of the robot, a best fit between a map of a virtually simulated robot and the newly obtained LIDAR data;
inferring, by the processor of the robot, a current location of the robot as the location of the virtually simulated robot whose map best fits with the newly obtained LIDAR data; and
correcting, by the processor of the robot, the position of the robot within the map to the current location.