Patent ID: 11951629
Assignee: BRAIN CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. A robotic device comprising:
a non-transitory computer readable storage medium comprising a plurality of computer readable instructions stored thereon;
at least one controller configured to execute the computer readable instructions to:
evaluate a current state of the robotic device and environmental context using at least one sensor coupled to the robotic device;
generate a kernelized footprint of the robotic device using at least one continuous and differentiable function;
utilize the kernelized footprint to generate a continuous differentiable environmental cost as a function of the all available motion commands based on an area overlap between the kernelized footprint and environmental objects projected on a computer readable map during simulated execution of the all available motion commands;
evaluate a total cost function as a function of all available motion commands based on the current state and the environmental context, the total cost being a summation of a control cost and an environmental cost for the all available motion commands;
determine a minimum cost motion command based on the total cost function; and
execute the minimum cost motion command to effectuate movement of the robotic device along a target trajectory.