Patent ID: 6324476
Filing Date: 2001-11-27
Classification: B25J,B63B,B63G,B63H,G05B,G05D,G06F,G06Q,G08G

Abstract:
A computer method of identifying at least one rendezvous state that satisfies criteria for at least one actor, the method comprising executing the following operations in a data processing device:defining a first scenario for travel to achieve a rendezvous condition;embodying said first scenario in at least one computer readable medium;defining at least one second scenario different from said first scenario for travel to achieve said rendezvous condition,embodying said at least one second scenario in at least one computer medium,forming at least respective first and second configuration space data structures based on said scenarios, said respective configuration space data structures being referred to herein as ""configuration spaces"" and having at least one task state in common,embodying said respective configuration spaces in at least one computer readable medium,propagating cost waves from a respective source for each configuration space, to determine costs for each configuration state corresponding to a said task state in common,embodying said costs in at least one computer readable medium,forming at least one Boolean expression defining at least one global criterion,embodying said Boolean expression in at least one computer readable median,for each said task state in common, evaluating costs of the corresponding configurations, according to said Boolean expression, to identify candidate rendezvous states,outputting from the data processing device an identification of said candidate rendezvous states.