Patent ID: 11911908
Assignee: INTRINSIC INNOVATION LLC
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 9:
10. The method of claim 1, determining that the intersection occurs comprises:
identifying, for each of the respective first time intervals, one or more first edges of the first subset of edges that the robot is expected to travel along the first path during the first time interval;
identifying, for each of the respective second time intervals, one or more second edges of the second subset of edges that the movable object is expected to travel along the second path during the second time interval; and
comparing, for each overlapping time period between each of the respective first time intervals and each corresponding second time interval of the respective second time intervals, the respective swept volume profiles for the one or more first edges expected to be traveled by the robot and the one or more second edges expected to be traveled by the movable object during the overlapping time period to determine whether the intersection occurs.