Patent ID: 9707681
Date: 2017-07-18
CPC Classifications: B25J

Claim:
1. A method for anti-collision management of two or more single robots performing robotic operations, the method comprising: receiving, by a data processing system, inputs, the inputs including a respective trajectory that each single robot of the two or more single robots follows to fulfill robotic operations, wherein each single robot along a trajectory is located within a respective single swept volume, and wherein the robotic operations of the two or more single robots take place at least partly in a shared space such that at least two of the single swept volumes of individual single robots form an overlapping area where collisions between robots may occur; and creating, by the data processing system prior to operation of the two or more single robots, discretized subswept volumes between robotic path locations for each single robot according to one or more discretization criteria such that the operation of each single robot moving along the known trajectory is controlled in order to allow synchronized execution of robotic operations, only overlapping discretized subswept volumes being considered for synchronization.