Patent ID: 11960286
Assignee: ZEBRA TECHNOLOGIES CORPORATION
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 9:
10. A mobile automation apparatus, comprising:
a locomotive assembly;
a data capture sensor; and
a navigational controller configured to:
obtain (i) a plurality of task fragments identifying respective sets of sub-regions in a facility, and (ii) an identifier of a task to be performed at each of the sets of sub-regions;
select a first active one of the task fragments according to a sequence specifying an order of execution of the task fragments;
generate a path including (i) a taxi portion from a current position of the mobile automation apparatus to the sub-regions identified by the first active task fragment, and (ii) an execution portion traversing the sub-regions identified by the first active task fragment according to the sequence specifying the order of execution of the task fragments;
control the locomotive assembly to travel along the path;
during travel along the taxi portion to the sub-regions identified by the first active task fragment, determine, based on a current pose of the mobile automation apparatus, whether to initiate execution of another task fragment out of the sequence specifying the order of execution of the task fragments;
when the determination is affirmative, interrupt travel along the taxi portion to the sub-regions identified by the first active task fragment, to perform the other active task fragment prior to arriving to the sub-regions identified by the first active task fragment;
identify as inaccessible at least one subregion of a task fragment that requires greater than a threshold distance to be reached by taxiing; and
perform the at least one inaccessible subregion after all other task fragments have been performed.