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

Claim 14:
15. A non-transitory computer-readable medium storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
receiving a route associated with a start position and an end position in an environment;
receiving a data structure associated with the environment, the data structure identifying occupied space in the environment;
determining, based at least in part on the route, a grid comprising one or more layers, the grid being overlaid over the data structure and shaped based on the route;
determining, as sample nodes and based at least in part on the data structure, one or more nodes of the one or more layers; and
determining, based at least in part on a search for a set of contiguous connections between the sample nodes, a first path from at least one of the end position or an end layer associated with the end position to the start position, wherein the search is based at least in part on the data structure, a first set of values associated with differences between a range of positions and orientations and a desired position and orientation, and a second set of values associated with one or more motion primitives.