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

Claim 15:
16. The non-transitory computer-readable medium of claim 15, wherein the one or more motion primitives and the second set of values are precomputed and the search comprises:
determining, based at least one of a first sample node of a first sample layer and one or more sample nodes of one or more sample layers succeeding the first sample layer, a motion primitive of the one or more motion primitives;
determining, based at least in part on the motion primitive and the first set of values, a first cost associated with a second sample node of the one or more sample nodes;
determining that at least one of the first cost is less than a threshold cost or less than first costs associated with one or more other nodes of the one or more sample layers;
determining, based at least in part on the one or more motion primitives, the first sample node, the second sample node, and the data structure, that at least one motion primitive is collision-free and connects the first sample node to the second sample node; and
determining a second cost based at least in part on the first sample node, the second sample node, and the second set of values.