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

Claim 7:
8. The system of claim 7, wherein the one or more motion primitives and the set of values are precomputed and the search comprises:
determining, based at least in part on the set of values, at least one of a first sample node of a first sample layer or one or more sample nodes of one or more sample layers succeeding the first sample layer;
determining, as a first cost, a value of the set of values associated with a motion primitive which connects a second sample node of the one or more sample nodes to the first sample node;
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 occupied portions, 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 associated with the at least one motion primitive and the first sample node.