Patent ID: 11878427
Assignee: GOOGLE LLC
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B

Claim 0:
1. A method performed by one or more computers, the method comprising:
accessing data indicating a layout of objects in a space;
determining that (i) a planning module for a robot fails to identify a potential collision-free path for the robot through the space based on a maximum profile for the robot and (ii) the planning module does identify at least one potential collision-free path for the robot through the space based on a minimum profile for the robot;
based on the determination, evaluating at least one three-dimensional shape of the robot with respect to at least one three-dimensional shape of at least one object in the space;
determining a path based on evaluating the at least one three-dimensional shape of the robot with respect to the at least one three-dimensional shape of the at least one object in the space; and
causing the robot to move along the determined path.