Patent Publication Number: US-2023141983-A1

Title: Robotic lawn mowers

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application claims priority to U.S. Provisional Patent Application 63/278,077 filed on Nov. 10, 2021, the disclosure of which is incorporated by reference herein in its entirety. 
    
    
     FIELD 
     The present disclosure relates generally to robotic lawn mowers, and more particularly to communication between and amongst a plurality of robotic lawn mowers 
     BACKGROUND 
     Traditionally, lawn mowing was performed by a human operator. The operator moved a lawn mowing machine around a work area. Over time, it has become common to replace the human operator with a robotic lawn mower. Robotic lawn mowers are capable of mowing operations largely without the intervention of operators. In this regard, they reduce time and cost associated with mowing. However, robotic lawn mowers are limited in their mowing capacity as they generally lack effective communication for operating in a group. 
     Accordingly, improved mowing systems which utilize a plurality of robotic lawn mowers would be desired in the art. In particular, mowing systems which allow a plurality of robotic lawn mowers to effectively communicate with one another would be advantageous. 
     SUMMARY 
     Aspects and advantages of the present disclosure will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the technology. 
     In accordance with one embodiment, a mowing system is provided. The mowing system includes a base station disposed at a work area; and a plurality of robotic lawn mowers disposed at the work area, the plurality of robotic lawn mowers including a first robotic lawn mower and a second robotic lawn mower, wherein the base station is configured to communicate with the second robotic lawn mower through the first robotic lawn mower. 
     In accordance with another embodiment, a mowing system is provided. The mowing system includes a base station disposed at a work area; and a plurality of robotic lawn mowers disposed at the work area, the plurality of robotic lawn mowers including a first robotic lawn mower and a second robotic lawn mower arranged in a hierarchical schema 
     In accordance with another embodiment, a method of operating a mowing system is provided. The method includes providing a plurality of robotic lawn mowers at a work area, the plurality of robotic lawn mowers including a first robotic lawn mower and a second robotic lawn mower; communicating command instructions from a base station of the mowing system to the first robotic lawn mower; and communicating at least a portion of the command instructions from the first robotic lawn mower to the second robotic lawn mower. 
     These and other features, aspects and advantages of the present disclosure will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology. 
     Other aspects of the embodiments will become apparent by consideration of the detailed description and accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A full and enabling disclosure of the present disclosure, including the best mode of making and using the present systems and methods, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which: 
         FIG.  1    is a perspective view of a robotic lawn mower in accordance with an exemplary embodiment of the present disclosure; 
         FIG.  2    is a perspective view of a mowing system including the robotic lawn mower and a base station in accordance with an exemplary embodiment of the present disclosure; 
         FIG.  3    is a schematic of a work area including a plurality of zones in accordance with an exemplary embodiment of the present disclosure; 
         FIG.  4    is a schematic of a work area including a plurality of zones in accordance with an exemplary embodiment of the present disclosure; 
         FIG.  5    is a schematic view of a hierarchical schema for a mowing system including a base station, a principal robotic lawn mower, and secondary robotic lawn mowers in accordance with an exemplary embodiment of the present disclosure; 
         FIG.  6    is a schematic view of a hierarchical schema for a mowing system including a base station, a principal robotic lawn mower, and secondary robotic lawn mowers in accordance with an exemplary embodiment of the present disclosure; and 
         FIG.  7    is a flow chart of a method of operating a mowing system in accordance with an exemplary embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Reference now will be made in detail to embodiments of the present disclosure, one or more examples of which are illustrated in the drawings. The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any implementation described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other implementations. Moreover, each example is provided by way of explanation, rather than limitation of, the technology. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present technology without departing from the scope or spirit of the claimed technology. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. 
     It should be understood that although certain drawings illustrate hardware and software located within particular devices, these depictions are for illustrative purposes only. Functionality described herein as being performed by one component may be performed by multiple components in a distributed manner. Likewise, functionality performed by multiple components may be consolidated and performed by a single component. In some embodiments, the illustrated components may be combined or divided into separate software, firmware and/or hardware. For example, instead of being located within and performed by a single electronic processor, logic and processing may be distributed among multiple electronic processors. Regardless of how they are combined or divided, hardware and software components may be located on the same computing device or may be distributed among different computing devices connected by one or more networks or other suitable communication links. Similarly, a component described as performing particular functionality may also perform additional functionality not described herein. For example, a device or structure that is “configured” in a certain way is configured in at least that way but may also be configured in ways that are not explicitly listed. 
     Thus, it is intended that the present disclosure covers such modifications and variations as come within the scope of the appended claims and their equivalents. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or similar designations in the drawings and description have been used to refer to like or similar. 
     As used herein, the terms “first”, “second”, and “third” may be used interchangeably to distinguish one component from another and are not intended to signify location or importance of the individual components. The singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. The terms “coupled,” “fixed,” “attached to,” and the like refer to both direct coupling, fixing, or attaching, as well as indirect coupling, fixing, or attaching through one or more intermediate components or features, unless otherwise specified herein. As used herein, the terms “comprises,” “comprising,” “includes,” “including,” “has,” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of features is not necessarily limited only to those features but may include other features not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive- or and not to an exclusive- or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present). 
     Terms of approximation, such as “about,” “generally,” “approximately,” or “substantially,” include values within ten percent greater or less than the stated value. When used in the context of an angle or direction, such terms include within ten degrees greater or less than the stated angle or direction. For example, “generally vertical” includes directions within ten degrees of vertical in any direction, e.g., clockwise or counter-clockwise. 
     Benefits, other advantages, and solutions to problems are described below with regard to specific embodiments. However, the benefits, advantages, solutions to problems, and any feature(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature of any or all the claims. 
     In general, mowing systems and methods in accordance with embodiments described herein can provide hierarchical schemas for a plurality of robotic lawn mowers operating at a work area. These hierarchical schemas can dictate interactions between and amongst the robotic lawn mowers, or at least some of the robotic lawn mowers in the mowing system. In an embodiment, systems and methods described herein can assign principal responsibilities to one or more of the robotic lawn mowers while designating other robotic lawn mowers of the plurality of robotic lawn mowers as secondary to the principal robotic lawn mower(s). 
     By way of non-limiting example, the principal robotic lawn mower(s) can communicate between a base station, which may be disposed at the work area, and the secondary robotic lawn mower(s), acting, e.g., like a middleman between the base station and the secondary robotic lawn mower(s); assigning action items and protocols to the secondary robotic lawn mower(s); delegating responsibilities to the secondary robotic lawn mower(s); relaying information from the secondary robotic lawn mower(s) to the base station or between secondary robotic lawn mowers; storing (or even processing) information associated with one or more of the secondary robotic lawn mower(s); handling disagreements or issues arising between multiple secondary robotic lawn mowers; observing (and optionally documenting) actions taken by the secondary robotic lawn mower(s); or the like. 
     In certain instances, the principal and secondary robotic lawn mowers can be fungible, i.e., include the same hardware and components as one another. In this regard, hierarchical assignment may be designated without deference to structural, hardware, or even software differentiation between the robotic lawn mowers. In such a manner, the principal/secondary hierarchical arrangement may be rearrangeable in response to an operational event. For example, when the principal robotic lawn mower is operating at a sub-threshold charge level, principal status can be delegated to one of the secondary robotic lawn mowers. In certain instances, this designation can be temporarily assigned until the previous principal robotic lawn mower reaches a desired charge, at which time the principal designation can revert to the previous principal robotic lawn mower. In other instances, this designation can remain until such time that the newly appointed principal robotic lawn mower requires charging or another operational event occurs. 
     Using hierarchical schemas, the mowing system can streamline operation of a plurality of robotic lawn mowers without requiring human interaction. In certain instances, machine learning may be implemented to acquire information about the mowing system and improve operational capacity. Machine learning may happen centrally, e.g., at the principal robotic lawn mower or base station, or be decentralized, e.g., split between two or more of the robotic lawn mowers or between one of the robotic lawn mowers and the base station. 
     These and other features of the mowing systems and methods described herein will become apparent in light of the embodiments that follow. 
       FIG.  1    illustrates a view of an exemplary robotic lawn mower  100  as seen in accordance with an exemplary embodiment of the present disclosure. The mower  100  is autonomous, or at least semi-autonomous. The mower  100  can be utilized within a work area to perform a work operation, such as mow grass within the work area, perform trimming operations within the work area, perform hedging operations in the work area, or the like. The mower  100  can generally include a body  102  and a walking element including, e.g., a plurality of wheels  104  coupled to the body  102 . 
     In an embodiment, the mower  100  can further include one or more sensors  106  which can detect an aspect of the mower  100  itself or the surrounding environment. In the depicted embodiment, the sensors  106  are disposed on an outer surface of the body  102 . In another embodiment, the sensors  106  may be disposed under the body  102 . In another embodiment, the sensors  106  may be exposed, e.g., at one or more openings  108  in the body  102 . By way of non-limiting example, the sensors  106  may include one or more of visual sensors, audio sensors, touch sensors such as capacitive sensors, radar sensors, temperature sensors, or the like. 
     In an embodiment, the mower  100  can include a communication element  110 . The communication element  110  can include a wireless communication device. The communication element  110  can communicate with other wireless communication devices, such as other wireless communication devices disposed nearby, such as other wireless communication devices disposed within the work area. While depicted on an exterior portion of the mower  100 , in accordance with an embodiment, at least a portion of the communication element  110 , such as the entire communication element  110 , can be disposed at least partially within the body  102  of the mower  100 . 
       FIG.  2    depicts an exemplary embodiment of the mower  100  at a base station  112 . The base station  112  can generally include a receiving area  114  and a dock  116  which can interface with the mower  100 . In the depicted embodiment, the receiving area  114  includes a plate  118  upon which the mower  100  can reside when interfaced with the dock  116 . In other embodiments, the receiving area  114  can be a portion of a work area  120  in the surrounding environment (i.e., without the plate  118 ). 
     One or more base stations  112  can be disposed within or near the work area  120 . In certain instances, the base station(s)  112  may be disposed near a perimeter of the work area  120  to allow for electrical connectivity. 
       FIG.  3    illustrates an exemplary work area  120  including three different zones—a first zone  120 A, a second zone  120 B, and a third zone  120 C. It should be understood that the number, size and shape of the zones  120 A,  120 B, and  120 C can vary without departing from the scope of this disclosure. A first mower  100 A can be disposed in a first zone  120 A, a second mower  100 B can be disposed in a second zone  120 B, and a third mower  100 C can be disposed in a third zone  120 C. In certain instances, the first, second, and third mowers,  100 A,  100 B, and  100 C can generally remain in their respective zones and perform work operations therein. The first mower  100 A can be performing an operation, e.g., a mowing operation, while travelling along path  122 A. The second mower  100 B can be performing a same or different operation while travelling along path  122 B. The third mower  100  an also be performing a same or different operation while travelling along path  122 C. 
     A first base station  112   a  and a second base station  112   b  can be disposed at the work area  120 . The first base station  112   a  is depicted in the first zone  120 A and the second base station  112   b  is disposed outside of zones  120 A,  120 B, and  120 C but within the surrounding environment. As all three mowers  100 A,  100 B, and  100 C require energy (e.g., recharging), it will be necessary for at least the second and third mowers  100 B and  100 C to leave their respective zones  120 B and  120 C to restore energy levels, e.g., charge. Even the first mower  100 A may not necessarily charge at the base station  112 A despite the base station  112 A being disposed in the first zone  120 A with the first mower  100 A. 
       FIG.  4    illustrates another exemplary work area  120  including three zones—a first zone  120 A, a second zone  120 B, and a third zone  120 C. However, unlike the work area  120  depicted in  FIG.  3   , the work area  120  depicted in  FIG.  4    includes overlapping zones  120 A,  120 B, and  120 C. While only small portion of the zones  120 A,  120 B, and  120 C are shown overlapping, in other embodiments the degree of overlap can be substantially larger. For example, in a particular embodiment the overlap between the zones  120 A,  120 B, and  120 C can be approximately 100%, or even 100%. In an embodiment, the zones  120 A,  120 B, and  120 C can overlap at differing degrees. For instance, by way of non-limiting example, 20% of the first zone  120 A may overlap the second zone  120 B while 40% of the first zone  120 A may overlap the third zone  120 C. By way of another example, 15% of the first zone  120 A can overlap each of the second and third zones  120 B and  120 C, 10% of the second zone  120 B can overlap the first zone  120 A, and 50% of the third zone  120 C can overlap the first zone  120 A. In an embodiment, two of the zones may not overlap while two of the other zones overlap. Further scenarios are possible. 
     Similar to the embodiment depicted in  FIG.  3   , the first mower  100 A is disposed in the first zone  120 A, the second mower  100 B is disposed in the second zone  120 B, and the third mower  100 C is disposed in the third zone  120 C of the work area  120 . However, given that the zones  120 A,  120 B, and  120 C overlap, the first, second, and third mowers  100 A,  100 B, and  100 C are thus operating in potentially conflicting environments where two or more of the robots might interact with one another or even collide. Hierarchical schemas may prevent these problems. 
     Referring to  FIG.  5   , a schematic of an exemplary hierarchical schema is depicted. The hierarchical schema can include one or more principal mowers  124  and one or more secondary mowers  126 . In the depicted embodiment, the one or more principal mowers  124  includes one mower—the first mower  100 A and the one or more secondary mowers  126  include two mowers—the second mower  100 B and the third mower  100 C. 
     The principal mower  124  and the secondary mowers  126  can communicate, e.g., using communication elements  110 . In an embodiment, the principal mower  124  can communicate with the secondary mowers  126 . More particularly, the principal mower  124  can communicate command instructions  128  to the secondary mowers  126 . By way of non-limiting example, the command instructions  128  can include information associated with route selection, charging instructions, hierarchical decisions, or any combination thereof. As used herein, “route selection” is intended to refer to a selected (e.g., determined) route to be taken by one of the second mowers  100 . Route selection may generally correspond with a path to be taken across the work area, e.g., during mowing operations, when moving while not mowing, etc. As used herein “charging instructions” may refer to instructions provided to the secondary mowers  100  to initiate charging protocols, such as to approach and enter a suitable charging location, e.g., a base station  112 . As used herein “hierarchical decisions” may refer to decisions which are based on a hierarchy of the principal and/or secondary mowers  124  or  126 . That is, for example, the principal mower  124  may supersede the secondary mowers  126  in route selection. In this way, the principal mower  124  can be kept from zones in the work area  120 , e.g., where the principal mower  124  would likely lose communication with the base station  112 . Hierarchical decisions may alternatively indicate which of the secondary mowers  126  is to perform a certain operation, such as which of the secondary mowers  126  is to operate in overlapping portions of the work area  120 . Many other communications are contemplated herein without deviating from the scope of the disclosure. 
     In an embodiment, at least one of the secondary mowers  126  can communicate information  130  to the principal mower  124 . The information being communicated from the at least secondary mower  126  to the principal mower  124  can include, for example, visual information captured by the sensor  102  of the at least secondary mower  126 , a battery status indication of the at least one secondary mower  126 , a satellite signal status of the at least one secondary mower  126 , or any combination thereof. 
     In an embodiment, the principal mower  124  may store (or even process) at least a portion of the information  130  communicated from the secondary mower  126 . In certain instances, the principal mower  124  may further communicate at least a portion  132  of the information  130  from the secondary mower  126  to the base station  112 . 
     In certain instances, the base station  112  can utilize the information  130  to inform a decision about one or more aspects of the mowing operation. For example, if the information  130  relates to a low charge status of the secondary mower  126 , the base station  112  may provide command instructions  134  to the secondary mower  126  to charge. In a particular embodiment, the base station  112  may instruct  134  the secondary mower  126  to go to a particular base station  112  to recharge. In a more particular embodiment, the base station  112  may instruct the secondary mower  126  to take a particular path to the particular base station  112 . In a particular embodiment, these instructions  134  from the base station  112  to the secondary mower  126  may be communicated to the secondary mower  126  through the principal mower  124 . That is, the principal mower  124  may act as a communication node between the secondary mowers  126  and the base station  112 , or vice versa. 
     The base station  112  can generally include a processor  136  and a communication device  138 . The processor  136  can be configured to generate command instructions  128 , such as those described above. The communication device  138  can communicate the command instructions  128  to the secondary mowers  126 , e.g., through the principal mower  124 . 
     It should be noted that in accordance with an embodiment, the principal mower  124  may have no substantive difference from the secondary mowers  126  other than designation or differences not associated substantially with hierarchical decision making. So, for example, the principal and secondary mowers  124  and  126  can share a common design. 
     In certain instances, the mowers  100 A,  100 B, and  100 C can swap designations. For example, one or more of the secondary mowers  126  (or one of the secondary mowers  126 ) can assume status of the principal mower  124  in response to certain operating events while the principal mower  126  can assume status of the secondary mowers  126 . In this regard, the hierarchical schema between the principal and secondary mowers  124  and  126  can be dynamic, i.e., adjustable. For example, the operating event may be associated with a low battery level of the then-principal mower  124 . In response, the then-principal mower  124  may assume a new status as a secondary mower  126  while one of the then-secondary mowers  126  becomes principal mower  124 . This assumption of designation may continue indefinitely, until the occurrence of another operating event, or restore upon completion of a secondary operating event like the original principal mower  124  regaining sufficient charge to be redeployed into the work area  120 . Other exemplary operating events which might trigger re-designation include getting stuck, jamming, obstacle encounters, machine damage or malfunctions, lost signals, high workload conditions which demand increased energy consumption and warrant switching principal designation to a secondary mower operating in lower workload conditions, or the like. 
       FIG.  6    illustrates a hierarchical schema in accordance with another embodiment. In the hierarchical schema depicted in  FIG.  6   , the principal mower  124  includes the first mower  100 A which communicates with only one of the secondary mowers  126 , i.e., the second mower  100 B. The second mower  100 B communicates with the third mower  100 C. The first mower  100 A further communicates with the base station  112 . In this regard, at least a portion of the communication between the base station  112  and third mower  100 C goes through the first mower  100 A and the second mower  100 B. 
     In an embodiment, the third mower  100 C may communicate with the first mower  100 A, i.e., the principal mower  124 , directly in one direction of communication. That is, for example, the third mower  100 C may communicate at least some information  131  directly to the first mower  100 A while only receiving command instructions from the second mower  100 B. 
       FIG.  7    illustrates a flow chart of a method  700  of operating a mowing system in accordance with an exemplary embodiment. The method  700  can generally include a step  702  of providing a plurality of robotic lawn mowers at a work area. The plurality of robotic lawn mowers includes a first robotic lawn mower and a second robotic lawn mower. The method  700  can further include a step  704  of communicating command instructions from a base station of the mowing system to the first robotic lawn mower. The method  700  can further include a step  706  of communicating at least a portion of the command instructions from the first robotic lawn mower to the second robotic lawn mower. 
     The method  700  can further include a step of communicating information from the second robotic lawn mower to the first robotic lawn mower. The information may include information captured by the second robotic lawn mower about the second robotic lawn mower or the environment in which the second robotic lawn mower is disposed within. At least a portion of the information from the second robotic lawn mower can then be communication to the base station, e.g., from the first robotic lawn mower. 
     In an embodiment, the base station can generate command instructions for the robotic mowers. These command instructions can inform aspects of the operation of the mowing system. For example, the base station can generate command instructions in view of one or more aspects of the work area that position the first robotic mower within the work are at a location such that the first robotic lawn mower maintains communication with the plurality of robotic lawn mowers and with the base station. In this regard, the first robotic lawn mower can form a connection node for operation of the entire mowing system. Further, the number of signals generated at the base station may be reduced. 
     The first robotic lawn mower may analyze the command instructions sent from the base and send at least portions of the command instructions to the second robotic lawn mower. In certain instances, the first robotic lawn mower may further update the command instructions prior to communicating the command instructions to the second robotic mower. These updated command instructions may be updated, for example, in view of one or more factors known by the first robotic lawn mower but not known by the base station. 
     Further aspects of the disclosure are provided by one or more of the following embodiments: 
     Embodiment 1. A mowing system comprising: a base station disposed at a work area; and a plurality of robotic lawn mowers disposed at the work area, the plurality of robotic lawn mowers including a first robotic lawn mower and a second robotic lawn mower, wherein the base station is configured to communicate with the second robotic lawn mower through the first robotic lawn mower. 
     Embodiment 2. The mowing system of any one or more of the embodiments, wherein the base station comprises: a processor configured to generate a command instruction; and a communication device configured to communicate the command instruction to the second robotic lawn mower through the first robotic lawn mower. 
     Embodiment 3. The mowing system of any one or more of the embodiments, wherein the command instruction comprises information associated with route selection, charging instructions, hierarchical decisions, or any combination thereof. 
     Embodiment 4. The mowing system of any one or more of the embodiments, wherein the first robotic lawn mower comprises a principal robotic lawn mower and the second robotic lawn mower and any other robotic lawn mowers of the plurality of lawn mowers comprise secondary robotic lawn mowers, wherein the secondary robotic lawn mowers receive a command instruction from the principal robotic lawn mower. 
     Embodiment 5. The mowing system of any one or more of the embodiments, wherein at least one of the secondary robotic lawn mowers is configured to communicate information to the principal robotic lawn mower. 
     Embodiment 6. The mowing system of any one or more of the embodiments, wherein the information comprises visual information captured by a sensor of the at least one secondary robotic lawn mower, a battery status indication of the at least one secondary robotic lawn mower, a satellite signal status of the at least one secondary robotic lawn mower, or any combination thereof. 
     Embodiment 7. The mowing system of any one or more of the embodiments, wherein the principal robotic lawn mower is configured to communicate at least a portion of the information from the secondary robotic lawn mower to the base station. 
     Embodiment 8. The mowing system of any one or more of the embodiments, wherein the principal robotic lawn mower and the secondary robotic lawn mowers share a common design. 
     Embodiment 9. The mowing system of any one or more of the embodiments, wherein the principal robotic lawn mower assumes a status as one of the secondary robotic lawn mowers in response to an operating event and one of the secondary robotic lawn mowers assumes a status as the principal robotic lawn mower in response to the operating event. 
     Embodiment 10. The mowing system of any one or more of the embodiments, wherein the second robotic lawn mower and the base station are not in communication with each other. 
     Embodiment 11. The mowing system of any one or more of the embodiments, wherein the base station and each of the plurality of robotic lawn mowers form a network and communicate via a communication protocol. 
     Embodiment 12. The mowing system of any one or more of the embodiments, wherein the communication protocol comprises a Bluetooth Low Energy (BLE) protocol, a Zigbee protocol, Lange Range (LoRa) protocol, a radio-frequency protocol, or Wi-Fi. 
     Embodiment 13. The mowing system of any one or more of the embodiments, wherein the robotic lawn mowers communicate bidirectionally with each other, and wherein each of the plurality of robotic lawn mowers is configured to: determine a command for one of the other robotic lawn mowers based on data captured by a sensor; and provide the command to the one of the other robotic lawn mowers. 
     Embodiment 14. The mowing system of any one or more of the embodiments, wherein the robotic lawn mowers are connected to form a chain of robotic lawn mowers where data is unidirectionally transferred from the base station through the chain of robotic lawn mowers. 
     Embodiment 15. The mowing system of any one or more of the embodiments, wherein each of the plurality of robotic lawn mowers is configured to provide sensor data and location data to the other robotic lawn mowers. 
     Embodiment 16. The mowing system of any one or more of the embodiments, wherein the sensor data is captured by a sensor associated with the respective one of the plurality of robotic lawn mowers, and wherein the location data captured by a geolocation device associated with the respective one of the plurality of robotic lawn mowers. 
     Embodiment 17. The mowing system of any one or more of the embodiments, wherein each of the plurality of robotic lawn mowers is configured to: receive the sensor data and the location data from the other robotic lawn mowers, and process the sensor data and the location data to determine a map of the work area, determine a location for each of the other robotic lawn mowers, optimize a path through the work area, or avoid a collision with the other robotic lawn mowers. 
     Embodiment 18. The mowing system of any one or more of the embodiments, wherein the base station is configured to communicate with the second robotic lawn mower through the first robotic lawn mower when the second robotic lawn mower is out of a broadcast range of the base station. 
     Embodiment 19. The mowing system of any one or more of the embodiments, wherein the base station is configured to: send and receive communications from an external device, and provide and receive the communications from the second robotic lawn mower via the first robotic lawn mower. 
     Embodiment 20. The mowing system of any one or more of the embodiments, wherein the external device is a mobile device associated with a user. 
     Embodiment 11. A method of operating a mowing system, the method comprising: providing a plurality of robotic lawn mowers at a work area, the plurality of robotic lawn mowers including a first robotic lawn mower and a second robotic lawn mower; communicating command instructions from a base station of the mowing system to the first robotic lawn mower; and communicating at least a portion of the command instructions from the first robotic lawn mower to the second robotic lawn mower. 
     Embodiment 12. The method of any one or more of the embodiments, further comprising: communicating information from the second robotic lawn mower to the first robotic lawn mower; and communicating at least a portion of the information from the second robotic lawn mower to the base station. 
     Embodiment 13. The method of any one or more of the embodiments, further comprising generating the command instructions at the base station in view of one or more aspects of the work area such that the command instructions position the first robotic lawn mower within the work area such that the first robotic lawn mower maintains communication with the plurality of robotic lawn mowers and with the base station. 
     Embodiment 14. The method of any one or more of the embodiments, further comprising the first robotic lawn mower analyzing the command instructions and updating the command instructions prior to communicating at least a portion of the command instructions to the second robotic lawn mower. 
     Embodiment 15. The method of any one or more of the embodiments, wherein updating the command instructions is performed in view of one or more factors known by the first robotic lawn mower but not known by the base station. 
     Embodiment 16. The method of any one or more of the embodiments, further comprising, in response to an operating event, the base station switching communication from the first robotic lawn mower to the second robotic lawn mower such that, after switching communication from the first robotic lawn mower to the second robotic lawn mower, the base station communicates command instructions to the second robotic lawn mower and the second robotic lawn mower communicates at least a portion of the command instructions to the first robotic lawn mower. 
     Embodiment 17. The method of any one or more of the embodiments, wherein the first robotic lawn mower comprises a principal robotic lawn mower and the second robotic lawn mower and any other robotic lawn mowers of the plurality of lawn mowers comprise secondary robotic lawn mowers, and wherein the method further comprises, in response to an operating event, delegating principal robotic lawn mower operations to one of the secondary robotic lawn mowers. 
     Embodiment 18. The method of any one or more of the embodiments, further comprising, in response to the operating event reaching a threshold, returning principal robotic lawn mower operations to the first robotic lawn mower. 
     Embodiment 19. A mowing system comprising: a base station disposed at a work area; and a plurality of robotic lawn mowers disposed at the work area, the plurality of robotic lawn mowers including a first robotic lawn mower and a second robotic lawn mower arranged in a hierarchical schema. 
     Embodiment 20. The mowing system of any one or more of the embodiments, wherein the hierarchical schema comprises the first robotic lawn mower being a principal lawn mower and the second robotic lawn mower being a secondary robotic lawn mower, and wherein the principal lawn mower is configured to at least partially control the secondary robotic lawn mower. 
     This written description uses examples, including the best mode, and also to enable any person skilled in the art to practice the disclosure, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims. 
     Thus, embodiments described herein provide, among other things, a mowing system that include a base station and a plurality of robotic lawn mowers disposed in a work area. Various features and advantages are set forth in the following claims.