Patent ID: 11919172
Assignee: AI INCORPORATED
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A mobile robotic device, comprising at least:
a plurality of sensors;
a processor; and
a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
selecting, by the processor, one or more actions to navigate through a workspace, wherein:
each action transitions the mobile robotic device from a current state to a next state; and
each state of the mobile robotic device comprises at least a location of the mobile robotic device within the workspace;

actuating, by the processor, the mobile robotic device to execute the selected one or more actions;
detecting, by the processor, whether a collision is incurred by the mobile robotic device for each action executed;
detecting, by the processor, whether the mobile robotic device is repeatedly transitioning between a same collection of states;
determining, by the processor, the mobile robotic device is stuck when the mobile robotic device is repeatedly transitioning between the same collection of states; and,
assigning, by the processor, each collision to a location within a map of the workspace wherein the location corresponds to where the respective collision occurred.