Patent ID: 11906961
Assignee: CLEARPATH ROBOTICS INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. An unmanned vehicle comprising:
a chassis;
a processor for controlling a propulsion system of the unmanned vehicle and receiving sensor data from one or more sensors of the unmanned vehicle, the processor is configured told:
enumerate one or more unmanned vehicle capabilities by querying one or more of the propulsion system and the one or more sensors of the unmanned vehicle;
operate the propulsion system in an autonomous calibration mode by:
automatically controlling the propulsion system to move the chassis;
collecting the sensor data from the one or more sensors;
selecting one or more uncertainty propagation models from a plurality of uncertainty propagation models based on at least one of i.) one or more unmanned vehicle capabilities and ii.) the sensor data; and
processing the sensor data using the one or more uncertainty propagation models to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;

determine that the degree of certainty is above a threshold value; and
subsequently switch operation of the propulsion system to an operational mode based on the determination that the degree of certainty is above the threshold value.