Patent ID: 11875678
Assignee: ZOOX, INC.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 6:
7. A system comprising:
one or more processors; and
a memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
receiving a route associated with a start position and an end position in a region of an environment;
receiving sensor data from a sensor;
determining, based at least in part on the sensor data, an indication of occupied portions of the region;
determining, based at least in part on the route and the occupied portions, a grid comprising one or more layers along the route, wherein:
an individual layer of the one or more layers is associated with a portion of the route and comprises a plurality of nodes and the individual layer is perpendicular to the portion of the route, and
the one or more layers are disposed at intervals along the route in unoccupied portions of the region;

determining, as sample nodes and based at least in part on the grid and the occupied portions, one or more nodes of the one or more layers; and
determining, based at least in part on a search for a set of connections between the sample nodes, a first path between at least one of the end position or an end layer associated with the end position and the start position, wherein the search is based at least in part on the occupied portions and a set of values associated with one or more motion primitives.