Patent ID: 11886188
Assignee: R-GO ROBOTICS, LTD.
Field: Measurement (Instruments)
Classification: CPC G  A | IPC A  G

Claim 17:
18. A method for environmental parameter mapping, comprising:
adding at least one entry to a mapping data structure, wherein each of the at least one entry includes a respective position of a robotic device and at least one corresponding environmental parameter for the respective position of the robotic device, wherein each of the at least one corresponding environmental parameter of each of the at least one entry indicates an attribute of an environment at a corresponding position and is based on at least one sensor signal captured at the corresponding position;
sending at least one command to the robotic device, wherein the at least one command is determined based on the mapping data structure and includes at least one command to navigate;
determining a probability of observing a plurality of first measurements based on a plurality of second measurements at corresponding locations of the robotic device, wherein each of the plurality of first measurements is determined based on sensor signals captured by the robotic device, wherein each of the plurality of second measurements is stored in the mapping data structure with respect to a corresponding location of one of the plurality of first measurements;
determining whether each of the plurality of first measurements has a probability above a threshold, wherein the at least one entry is determined based on each first measurement of the plurality of first measurements having a probability above a threshold; and
determining a probability of observing a plurality of new measurements based on an expected state of the robotic device, wherein the expected state includes at least one expected state value determined based on the mapping data structure, wherein the probability of observing each new measurement is determined based on a comparison between the new measurement and a respective value of the at least one expected state value, wherein the at least one entry is determined based on each new measurement having a probability above a threshold.