Patent Publication Number: US-2022219325-A1

Title: Navigation of tele-robot in dynamic environment using in-situ intelligence

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS AND PRIORITY 
     The present application claims priority from Indian provisional application no. 202121000976, filed on Jan. 8, 2021. 
     TECHNICAL FIELD 
     The disclosure herein generally relates to navigation of a tele-robot, and, more particularly, to navigation of a tele-robot in dynamic environment using in-situ intelligence. 
     BACKGROUND 
     Tele-robotics is the area of robotics concerned with the control of robots from a distance, primarily using a wireless network/wireless communication such as a Wi-Fi, a Bluetooth, a deep space network, and similar or tethered connections. In tele-robotics, a user (aka master) interacts with a robot (aka avatar or tele-robot) that is placed in a remote environment. The master and the tele-robot are connected over a public internet infrastructure, wherein the master sends commands to the tele-robot based on visual feedback from the tele-robot. Telepresence robots are being used in a wide variety of other applications ranging from medicine to toxic waste cleanup to art installations. 
     One of the major tasks for the master is to guide the tele-robot to navigate through a remote environment/geography. The navigation can happen either (a) in a manual mode, or (b) in an autonomous mode. The manual mode of navigation is tedious for the master as it needs frequent transmission of kinematic control information over a network which may not be efficient in terms of communication resource usage. Further in the autonomous mode of navigation there is an increased probability of service disruption due to loss of control commands because of transient impairments in the end-to-end channel. Hence a hybrid mode of communication is preferable. Further, in reality the remote environment where the tele robot navigates may be dynamic in nature as there may be unpredictable movements or positioning of objects obstructing the estimated trajectory that the tele-robotics might take to reach the end-destination. Hence for navigation in a dynamic environment, the tele-robot must be equipped with intelligence to understand the dynamic environment accurately despite the dynamic variance in the context while on move by not completely depending on the master&#39;s command. 
     SUMMARY 
     Embodiments of the present disclosure present technological improvements as solutions to one or more of the above-mentioned technical problems recognized by the inventors in conventional systems. For example, in one embodiment, a method for navigation of a tele-robot in dynamic environment using in-situ intelligence is provided. The method includes initiating a communication between the tele-robot and the master. The communication is based on an application layer communication semantic and associated with a plurality of modes of operation that includes a manual mode and an autonomous mode. The method further includes receiving the communication regarding the mode of operation at the tele-robot from the master and determining whether the plurality of modes of communication is a manual mode or an autonomous mode based on the application layer communication semantic and performing upon determining the plurality of modes of operation, one of a manual navigation of the tele-robot or in-situ intelligent navigation of the tele-robot. The method further includes performing in-situ intelligent navigation of the tele-robot, receiving a depth map of the dynamic environment from a plurality of sensors and a goal point from the master, wherein the plurality of objects comprises of a plurality of static objects, a plurality of interactive objects and a plurality of dynamic objects. Further method includes estimating a current position of the tele-robot based on a Simultaneous localization and mapping (SLAM) technique using a velocity associated with the tele-robot, wherein the velocity of the tele-robot is obtained using a plurality of sensors and the velocity includes an angular velocity and a linear velocity. The method further includes generating a geo-centric top view map from the depth map using the current position of the tele-robot based on a spatial transform (ST) technique, wherein the geo-centric top view map is a geo-centric representation comprising the current position of the tele-robot and the location details of the plurality of objects. The method further includes receiving a video feed of the dynamic environment at the tele-robot using the plurality of sensors, wherein the video feed is in RGB format. The method further includes identifying the plurality of interactive objects and the plurality of dynamic objects in the video feed based on an object detection technique. The method further includes estimating interactive object position or future position of the dynamic object. Finally method includes determining a navigation local policy for the tele-robot by passing the geo-centric map through a Fast Marching Motion Planner(FMMP) using the goal points, the current position of the tele-robot and the interactive object position/the future dynamic object position 
     In another aspect, a system for navigation of a tele-robot in dynamic environment using in-situ intelligence is provided. The system includes a master and a tele-robot in dynamic environment in communication with each other. The communication is based on an application layer communication semantic and associated with a plurality of modes of operation that includes a manual mode and an autonomous mode. The system further includes one or more hardware processor configured for receiving the communication regarding the mode of operation at the tele-robot from the master and determining whether the plurality of modes of communication is a manual mode or an autonomous mode based on the application layer communication semantic and performing upon determining the plurality of modes of operation, one of a manual navigation of the tele-robot or in-situ intelligent navigation of the tele-robot. The system further includes one or more hardware processor configured for performing in-situ intelligent navigation of the tele-robot, receiving a depth map of the dynamic environment from a plurality of sensors and a goal point from the master, wherein the plurality of objects comprises of a plurality of static objects, a plurality of interactive objects and a plurality of dynamic objects. The system further includes one or more hardware processor configured for estimating a current position of the tele-robot based on a Simultaneous localization and mapping (SLAM) technique using a velocity associated with the tele-robot, wherein the velocity of the tele-robot is obtained using a plurality of sensors and the velocity includes an angular velocity and a linear velocity. The system further includes one or more hardware processor configured for method further includes generating a geo-centric top view map from the depth map using the current position of the tele-robot based on a spatial transform (ST) technique, wherein the geo-centric top view map is a geo-centric representation comprising the current position of the tele-robot and the location details of the plurality of objects. The system further includes one or more hardware processor configured for receiving a video feed of the dynamic environment at the tele-robot using the plurality of sensors, wherein the video feed is in RGB format. The system further includes one or more hardware processor configured for identifying the plurality of interactive objects and the plurality of dynamic objects in the video feed based on an object detection technique. The system further includes one or more hardware processor configured for estimating interactive object position or future position of the dynamic object. Finally, system further includes one or more hardware processor configured for includes determining a navigation local policy for the tele-robot by passing the geo-centric map through a Fast Marching Motion Planner (FMMP) using the goal points, the current position of the tele-robot and the interactive object position/the future dynamic object position 
     Another embodiment provides a non-transitory computer-readable medium having embodied thereon a computer program for a computer readable program, wherein the computer readable program, when executed by one or more hardware processors, causes navigation of a tele-robot in dynamic environment using in-situ intelligence. The program includes initiating a communication between the tele-robot and the master. The communication is based on an application layer communication semantic and associated with a plurality of modes of operation that includes a manual mode and an autonomous mode. The program further includes receiving the communication regarding the mode of operation at the tele-robot from the master and determining whether the plurality of modes of communication is a manual mode or an autonomous mode based on the application layer communication semantic and performing upon determining the plurality of modes of operation, one of a manual navigation of the tele-robot or in-situ intelligent navigation of the tele-robot. The program further includes performing in-situ intelligent navigation of the tele-robot, receiving a depth map of the dynamic environment from a plurality of sensors and a goal point from the master, wherein the plurality of objects comprises of a plurality of static objects, a plurality of interactive objects and a plurality of dynamic objects. Further program includes estimating a current position of the tele-robot based on a Simultaneous localization and mapping (SLAM) technique using a velocity associated with the tele-robot, wherein the velocity of the tele-robot is obtained using a plurality of sensors and the velocity includes an angular velocity and a linear velocity. The program further includes generating a geo-centric top view map from the depth map using the current position of the tele-robot based on a spatial transform (ST) technique, wherein the geo-centric top view map is a geo-centric representation comprising the current position of the tele-robot and the location details of the plurality of objects. The program further includes receiving a video feed of the dynamic environment at the tele-robot using the plurality of sensors, wherein the video feed is in RGB format. The program further includes identifying the plurality of interactive objects and the plurality of dynamic objects in the video feed based on an object detection technique. The program further includes estimating interactive object position or future position of the dynamic object. Finally program includes determining a navigation local policy for the tele-robot by passing the geo-centric map through a Fast Marching Motion Planner(FMMP) using the goal points, the current position of the tele-robot and the interactive object position/the future dynamic object position. 
     It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles: 
         FIG. 1  illustrates a communication between a tele-robot and a master in accordance with some embodiments of the present disclosure. 
         FIG. 2  illustrates an exemplary system in the tele-robot and the master of the  FIG. 1  for navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
         FIG. 3A ,  FIG. 3B  and  FIG. 3C  is a flow diagram illustrating a method for navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
         FIG. 4  illustrates an application layer communication semantic between the tele-robot and the master of the  FIG. 1 , wherein an exemplary example of a handshake for a graceful command termination between the tele-robot and the master is illustrated in accordance with some embodiments of the present disclosure. 
         FIG. 5  illustrates an application layer communication semantic between the tele-robot and the master of the  FIG. 1 , wherein an exemplary example of termination initiated by the master is illustrated in accordance with some embodiments of the present disclosure. 
         FIG. 6  illustrates a sample depth map utilized for navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
         FIG. 7A  illustrates an ego map (a top view of the depth map) and  FIG. 7B  illustrates a geocentric map utilized for navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
         FIG. 8  illustrates a video feed of the dynamic environment as received by the tele-robot in RGB format to be utilized for navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
         FIG. 9  is a flow diagram illustrating a method for position estimation technique during in the navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
         FIG. 10  is a flow diagram illustrating a method for future position estimation technique during in the navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
         FIG. 11A  illustrates an example scenario of the input video feed and the  FIG. 11B  illustrates a navigation local policy generated based on the disclosed in-situ intelligent navigation method. 
         FIG. 12  illustrates example scenario a doctor-patient interaction using the disclosed method of navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
         FIG. 13  illustrates example scenario of a graph of percent success for the experiment of doctor-patient interaction (from the  FIG. 12 ) using the disclosed method of navigation of a tele-robot in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     Exemplary embodiments are described with reference to the accompanying drawings. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. Wherever convenient, the same reference numbers are used throughout the drawings to refer to the same or like parts. While examples and features of disclosed principles are described herein, modifications, adaptations, and other implementations are possible without departing from the scope of the disclosed embodiments. 
     Tele-robotics is the area of robotics concerned with the control of robots from a distance or a remote location. Telepresence robots are being used in a wide variety of other applications ranging from medicine to toxic waste cleanup to art installations. The tele-robotics system comprises of a master and at least one tele-robot, wherein the tele-robot is located at a remote location away from the master. The master and the tele-robot primarily to communicate using a wireless network/wireless communication such as a Wi-Fi, a Bluetooth, a deep space network, and similar or tethered connections. The master and the tele-robot are connected over a public internet infrastructure, wherein the master sends commands to the tele-robot based on visual feedback from the tele-robot. There are two ways in which the master and the tele-robot communicate by application messages: 
     (a) Request message (from the master to the tele-robot),
 
(b) Response message (from the tele-robot to the master).
 
     An example scenario of the two way communication between a tele-robot  104  and a master is illustrated in  FIG. 1 . As illustrated, the system  100  of  FIG. 1  comprises of a master  102  and at least a telerobot  104 . The two way communication between a tele-robot  104  and a master  102  is implemented by at least on request message (from the master  102  to the tele-robot  104 ) and a plurality of response message (from the tele-robot  104  to the master  102 ). 
     Referring now to the drawings, and more particularly to  FIG. 2  through  FIG. 12  where similar reference characters denote corresponding features consistently throughout the figures, there are shown preferred embodiments and these embodiments are described in the context of the following exemplary system and/or method. 
       FIG. 2  is a functional block diagram of a system  200  for the navigation of a tele-robot  104  in dynamic environment using in-situ intelligence in accordance with some embodiments of the present disclosure. The system  200  is present within the master  102  and the telerobot  104  as shown in  FIG. 1 . 
     In an embodiment, the system  200  includes a processor(s)  204 , communication interface device(s), alternatively referred as input/output (I/O) interface(s)  206 , and one or more data storage devices or a memory  202  operatively coupled to the processor(s)  204 . The system  200  with one or more hardware processors is configured to execute functions of one or more functional blocks of the system  200 . 
     Referring to the components of system  200 , in an embodiment, the processor(s)  204 , can be one or more hardware processors  204 . In an embodiment, the one or more hardware processors  204  can be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, state machines, logic circuitries, and/or any devices that manipulate signals based on operational instructions. Among other capabilities, the one or more hardware processors  204  is configured to fetch and execute computer-readable instructions stored in the memory  202 . In an embodiment, the system  200  can be implemented in a variety of computing systems including laptop computers, notebooks, hand-held devices such as mobile phones, workstations, mainframe computers, servers, a network cloud and the like. 
     The I/O interface(s)  206  can include a variety of software and hardware interfaces, for example, a web interface, a graphical user interface, a touch user interface (TUI) and the like and can facilitate multiple communications within a wide variety of networks N/W and protocol types, including wired networks, for example, LAN, cable, etc., and wireless networks, such as WLAN, cellular, or satellite. In an embodiment, the I/O interface (s)  206  can include one or more ports for connecting a number of devices (nodes) of the system  200  to one another or to another server. 
     The memory  202  may include any computer-readable medium known in the art including, for example, volatile memory, such as static random access memory (SRAM) and dynamic random access memory (DRAM), and/or non-volatile memory, such as read only memory (ROM), erasable programmable ROM, flash memories, hard disks, optical disks, and magnetic tapes. 
     Further, the memory  202  may include a database  208 . Thus, the memory  202  may comprise information pertaining to input(s)/output(s) of each step performed by the processor(s)  204  of the system  200  and methods of the present disclosure. In an embodiment, the database  208  may be external (not shown) to the system  200  and coupled to the system via the I/O interface  206 . Functions of the components of system  200  are explained in conjunction with the flow diagram of  FIG. 3A ,  FIG. 3B  and  FIG. 3C  for the navigation of a tele-robot  104  in dynamic environment using in-situ intelligence. 
     The system  200  supports various connectivity options such as BLUETOOTH®, USB®, ZigBee® and other cellular services. The network environment enables connection of various components of the system  200  using any communication link including Internet, WAN, MAN, and so on. In an exemplary embodiment, the system  200  is implemented to operate as a stand-alone device. In another embodiment, the system  200  may be implemented to work as a loosely coupled device to a smart computing environment. The components and functionalities of the system  200  are described further in detail. 
     As depicted in the architecture of the  FIG. 2  various modules of the system  200  are configured to enable the navigation of a tele-robot  104  in dynamic environment using in-situ intelligence. The system  200  is configured for initiating a communication between the tele-robot  104  and the master  102 , where the communication is based on an application layer communication semantic. The communication is associated with a plurality of modes of operation that includes a manual mode and an autonomous mode, and wherein the tele-robot  104  is located at a remote location in the dynamic environment. Further the system  200  is configured for receiving the communication regarding the mode of operation at the tele-robot  104  from the master  102 , wherein the modes of operation is a manual mode or an autonomous mode. Based on the received mode of operation of communication between the master  102  and the telerobot, performing a manual navigation of the tele-robot  104  or performing an in-situ intelligent navigation of the tele-robot  104  in an autonomous mode. The various modules of the system  200  for the navigation of a tele-robot  104  in dynamic environment using in-situ intelligence are implemented as at least one of a logically self-contained part of a software program, a self-contained hardware component, and/or, a self-contained hardware component with a logically self-contained part of a software program embedded into each of the hardware component that when executed perform the above method described herein. 
     Functions of the components of the system  200  are explained in conjunction with functional modules of the system  200  stored in the memory  202  and further explained in conjunction with flow diagram of  FIG. 3A ,  FIG. 3B  and  FIG. 3C . The  FIG. 3A ,  FIG. 3B  and  FIG. 3C , with reference to  FIG. 2 , is an exemplary flow diagram illustrating a method  300  for using the system  200  of  FIG. 2  according to an embodiment of the present disclosure. 
     The steps of the method of the present disclosure will now be explained with reference to the components of the navigation of a tele-robot  104  in dynamic environment using in-situ intelligence in the disclosed system ( 200 ) as depicted in  FIG. 2  and the flow diagrams as depicted in the  FIG. 3A ,  FIG. 3B  and  FIG. 3C . 
     Although process steps, method steps, techniques or the like may be described in a sequential order, such processes, methods and techniques may be configured to work in alternate orders. In other words, any sequence or order of steps that may be described does not necessarily indicate a requirement that the steps to be performed in that order. The steps of processes described herein may be performed in any order practical. Further, some steps may be performed simultaneously. 
     At step  302  of the method ( 300 ), a communication is initiated between the tele-robot  104  and the master  102 , via one or more hardware processors  104 , wherein the tele-robot  104  is located at a remote location in the dynamic environment. The communication is based on an application layer communication semantic. The communication is associated with a plurality of modes of operation. The plurality of modes of operation includes a manual mode and an autonomous mode. The manual mode of operation of the tele-robot  104  completely depends on a set of instructions to be shared by the master  102 , whereas the autonomous mode of operation of the tele-robot  104  enables the tele-robot  104  to take its own decisions based on its own intelligence without any intervention/instructions from the master  102 . 
     In an embodiment, the communication is a semi-persistent real-time communication involving a broker-less, peer-to-peer, observer-producer relationship between the master  102  and the tele-robot  104 . The term broker-less signifies that there is no intermediate entity, between the master  102  and the tele-robot  104 , acting as broker to register each request from master  102  as an independent topic of interest and responses from the tele-robot  104  corresponding to a particular request and, on the other hand, store the responses published by the tele-robot  104 . The term peer-to-peer indicated the master  102  and the tele-robot  104  communicate over a direct packet-data channel without requiring an intermediate session manager to enable the exchange over the Internet. The observer-producer, wherein after each plurality of modes of operation (manual or automatic), the master  102  initiates a semi-persistent logical connection where a master  102  node of the master  102  becomes an observer observing the state of the tele-robot  104  on the move and the tele-robot  104  becomes a publisher/producer periodically updating its status. 
     In an embodiment, the application layer communication semantic comprises an application-layer message exchange protocol between the tele-robot  104  and the master  102  that includes a request message from the master  102  to the tele-robot  104  and a plurality of response messages from the tele-robot  104  to the master  102 , wherein an application-layer message includes binary representations of a type and a corresponding value for each type. The request messages indicate whether the communication/message is for a point goal instruction or for a general kinematic command, while in a special case the request message can indicate an urgent interrupt to stop the process in whatever state it is. An example scenario of a packet structure for request messages in the application layer communication semantic, wherein the packet structure for request messages comprises of a command_type and a command_value, is as illustrated in Table.1 below: 
     
       
         
           
               
             
               
                 TABLE 1 
               
               
                   
               
               
                 An example packet structure for a request message. 
               
               
                   
               
             
            
               
                   
               
            
           
           
               
               
               
            
               
                   
                 Command_type (1 byte) 
                 Command_value (0-4 bytes) 
               
               
                   
                   
               
            
           
         
       
     
     In an embodiment, an example scenario of a possible command_type and command_value interpretations are as shown in Table 2 below: 
     
       
         
           
               
             
               
                 TABLE 2 
               
             
            
               
                   
               
               
                 Command_type and command_value interpretations 
               
            
           
           
               
               
            
               
                 Command_type 
                 Command_value 
               
               
                   
               
               
                 0x00 
                 Kinematics control indicator (numeric values 
               
               
                   
                 representing fwd, bkwd, right rotate, left rotate, etc.) 
               
               
                 0x01 
                 Represents the destination (x, y) coordinates 
               
               
                 0x02 
                 Reserved 
               
               
                 0x03 
                 Interrupt to stop the operation. 
               
               
                 0x04 - 0xFF 
                 Reserved 
               
               
                   
               
            
           
         
       
     
     An example scenario of a packet structure for response messages in the application layer communication semantic, wherein the packet structure for response messages comprises of a response_type and a response_value, is as illustrated in Table.3 below. 
     
       
         
           
               
             
               
                 TABLE 3 
               
               
                   
               
               
                 An example packet structure for a response message. 
               
               
                   
               
             
            
               
                   
               
            
           
           
               
               
               
            
               
                   
                 Response_type (1 byte) 
                 Response_value (0-4 bytes) 
               
               
                   
                   
               
            
           
         
       
     
     In an embodiment, an example scenario of possible response_type and response_value interpretations are as shown in Table 4 below: 
     
       
         
           
               
             
               
                 TABLE 4 
               
             
            
               
                   
               
               
                 Response_type and response_value interpretations. 
               
            
           
           
               
               
               
            
               
                   
                 Response_type 
                 Response_value 
               
               
                   
                   
               
               
                   
                 00 
                 Live odometry 
               
               
                   
                 01 
                 Destination reached 
               
               
                   
                 10 
                 Reserved 
               
               
                   
                 11 
                 Aborting 
               
               
                   
                   
               
            
           
         
       
     
     While an auto-navigation is on the master  102  console keeps a manual control mechanism disabled and enables only after an abort or successful combination indicator. The above messages can be transferred over any underlying transport having transport level acknowledgement. Once exemplary case may be the WebRTC (Real-Time Communication for the Web) data channel running on SCTP (Stream Control Transmission Protocol) or a CoAP (Constrained Application Protocol) with CON (Confirmable) mode. The underlying transport can use any custom mechanism on TCP (Transmission ControlProtocol) or QUIC (Quick UDP Internet Connections) where UDP is abbreviation for User Datagram Protocol, etc. 
     In an embodiment,  FIG. 4  and  FIG. 5  illustrates an application layer communication semantic between the tele-robot  104  and the master  102 . The  FIG. 4  is an exemplary example of a handshake for a graceful command termination between the tele-robot  104  and the master  102 . The  FIG. 5  is an exemplary example of termination initiated by the master  102 . Each request from the master  102  initiates an Observer-Publisher relationship between the master  102  and the tele-robot  104  where the master  102  becomes an observer and the tele-robot  104  becomes a publisher. After triggering the request containing a typical navigation command instruction, the master  102  keeps on observing the state of the ongoing execution of the command as published by the tele-robot  104  periodically as responses. The responses may contain in instantaneous odometer reading of the tele-robot  104  or it may indicate the end of execution of the request. The end of execution may be due to successful completion of the command in the request as shown in  FIG. 4  or may be due to preemptive termination. The preemption may happen due to either proactive termination command by the master  102  based on inference of the remote context through the video feed from the tele-robot  104 , or may be due to in situ decision to terminate a task by the tele-robot  104  itself, while the later may happen due to many possible causes like mechanical failure, depletion of battery, etc. 
     At step  304  of the method ( 300 ), receiving the communication regarding the mode of operation at the tele-robot  104  from the master  102  via one or more hardware processors. Further determining whether the plurality of modes of communication is a manual mode or an autonomous mode based on the content of the 1 st  byte of the request packet as shown in Table 1. If the byte is 0x00 then it is interpreted by the tele-robot  104  that the request contains manual navigation instruction and the next bytes are interpreted to contain granular movement commands. If the byte contains 0x01 then the tele-robot  104  interprets the request to contain auto-navigation instruction and the next bytes contain the binary representation of the (x, y) coordinate of the desired destination indicated by the master  102  in the remote video. 
     At step  306  of the method ( 300 ), upon determining the plurality of modes of operation, performing one of:
         (a) At step  308 , on determining the manual mode, performing a manual navigation of the tele-robot  104 , as commanded by the master  102  based on a manual communication semantic.   (b) At step  310 , on determining the autonomous mode, performing the in-situ intelligent navigation of the tele-robot  104 .       

     At step  308 , in an embodiment, the manual communication semantic technique comprises a granular step by step navigation request sent to the tele-robot  104  by the master  102  based on a video feed response shared by the tele-robot  104  with the master  102 . In an example scenario the granular step by step commands depends on specific application. For example, the value 0x01 may indicate “forward move”, 0x02 may indicate “backward move”, 0x03 may indicate “rotate right”, 0x04 may indicate “rotate left”, etc. The exact distance covered in each granular movement is application dependent. 
     At step  310  of the method ( 300 ), performing the in-situ intelligent navigation of the tele-robot  104 , comprising several steps that are depicted in  FIG. 3B  and  FIG. 3C . The in-situ intelligent navigation refers to the tele-robot  104  moving to a specific destination by sensing and inferring the environment and deciding the trajectory to reach the destination through its own intelligence as configured by the disclosed method. 
     At step  312  of the method ( 300 ), receiving a depth map of the dynamic environment from a plurality of sensors and a goal point from the master  102 . The plurality of objects comprises of a plurality of static objects, a plurality of interactive objects and a plurality of dynamic objects. The interactive object is an object navigates/moves by application of an external force and the dynamic object navigates/moves without the external force with a linear velocity (D) and an angular velocity (T) 
     In an embodiment, a few examples for an interactive object is a chair, a table, a curtain, a cycle and a car all of which cannot move by itself but can move/navigate by application of an external force. Further a few examples for a dynamic object are a bird, an animal or a human, all of which navigates/moves by itself (at its own will) without the external force with a linear velocity (D) and an angular velocity (T). 
     In an embodiment, a sample depth map has been shared in the  FIG. 6 , wherein the depth map comprises of a plurality of static objects, a plurality of interactive objects and a plurality of dynamic objects. 
     At step  314  of the method ( 300 ), a current position of the tele-robot  104  is estimated based on a Simultaneous localization and mapping (SLAM) technique using a velocity associated with the tele-robot  104 , wherein the velocity of the tele-robot  104  is obtained using a plurality of sensors and the velocity includes an angular velocity and a linear velocity. 
     In an embodiment, the Simultaneous localization and mapping (SLAM) technique includes an active neural SLAM technique. Further the plurality of sensors includes a red green and blue (RGB) camera, an odometer and a depth sensor. The velocity of the tele-robot  104  is obtained using a odometer. 
     At step  316  of the method ( 300 ), a geo-centric top view map is generated from the depth map using the current position of the tele-robot  104  based on a spatial transform (ST) technique, wherein the geo-centric top view map is a geo-centric representation comprising the current position of the tele-robot  104  and the location details of the plurality of objects. 
     In an embodiment, the depth map is converted to an ego map which is a top view of the depth map. The ego map is then projected at the current location of the robot using Spatial Transformation(ST) which then updates the geocentric map. In an example scenario the ego map which is a top view of the depth map is illustrated in  FIG. 7A  and the geocentric map is illustrated in  FIG. 7B . 
     At step  318  of the method ( 300 ), a video feed of the dynamic environment is received at the tele-robot  104  using the plurality of sensors, wherein the video feed is in RGB format. 
     In an embodiment, a RCB format image has been illustrated in black and white format in  FIG. 8 . 
     At step  320  of the method ( 300 ), the plurality of interactive objects and the plurality of dynamic objects are identified in the video feed based on an object detection technique. 
     In an embodiment, object detection technique includes You Only Look Once (YOLO™) object detection techniques, Single Shot Detector (SSD), Spatial Pyramid Pooling (SPP-net), Fast R-Convolutional neural network (CNN) and Faster R-CNN etc., At step  322  of the method ( 300 ), estimating upon identifying the object, one of:
         (a) At step  324 , on determining the interactive object—estimating an interactive object position of the interactive object in the geo-centric map based on a position estimation technique.   (b) At step  326 , determining the dynamic object—estimating a future position of the dynamic object in the geo-centric map, based on a future position estimation technique using a motion model.       

     Referring to  FIG. 9 , wherein the flowchart illustrates steps for estimating an interactive object position, which is explained below: 
     At step  902  of the method ( 900 ), generating an ego centric projection of the interactive object in the geo-centric map based on a depth segmentation technique. 
     In an embodiment, the segmentation technique involves segregation of the depth map of the interactive object from the rest of the depth map by overlaying it on top of the object detection bounding box and only taking the pixels inside the box. Since the depth values for the obstacle is different from the background, because the obstacle is closer to the camera than a background, a threshold of depth values gives the exact outline of the interactive object in the depth map. The depth values obtained inside this outline is then projected in the geocentric map using the Spatial Transformation technique. 
     At step  904  of the method ( 900 ), passing the ego centric projection of the interactive object from the ego-centric map in a Spatial Transform (ST) to obtain a geo centric representation of the interactive object by using the velocity, wherein the geo centric representation is the interactive object position. 
     Referring to  FIG. 10 , wherein the flowchart illustrates steps for estimating a future position of the dynamic object in the geo-centric map on determining the dynamic object, based on a future position estimation technique using a motion model. 
     At step  1002  of the method ( 1000 ), generating an ego centric projection of the dynamic object in the geo-centric map based on a depth segmentation technique 
     In an embodiment, the segmentation technique involves segregation of the depth map of the dynamic object from the rest of the depth map by overlaying it on top of the dynamic object detection bounding box and only taking the pixels inside the box. Since the depth values for the obstacle is different from the background, because the dynamic object is closer to the camera than a background, a threshold of depth values gives the exact outline of the dynamic object in the depth map. The depth values obtained inside this outline is then projected in the geocentric map using the Spatial Transformation technique. 
     At step  1004  of the method ( 1000 ), obtaining a geo centric representation of the dynamic object by passing the ego-centric map in a Spatial Transform (ST) using the velocity. 
     In an embodiment, the depth map of the dynamic object is segregated from the rest of the depth map by overlaying it on top of the object detection bounding box and only taking the pixels inside the box. As the depth values for the obstacle is different from the background, the obstacle is closer to the camera than a background, a threshold of depth values gives the exact outline of the dynamic obstacle in the depth map. The depth values obtained inside the outline is then projected in the geocentric map using the Spatial Transformation technique. Further to obtain the center of the obstacle, a Blob Center detection using OpenCV from the detected dynamic obstacle is used. 
     At step  706  of the method ( 700 ), estimating the future position of the dynamic object based on the geo centric representation using the motion model. 
     In an embodiment, the motion model is mathematically deduced as shown below: 
     Let,
         (x t , y t )=Centre of the obstacle in 2D space at time t   θ t =Angular orientation of the obstacle in 2D space.   D=Eucledian distance between the two obstacle centers in 2 consecutive time-stamps   T=Angular displacement between two obstacle orientations in 2 consecutive time-stamps   r 0 =Actual radius of the obstacle in a 2D space at initiation   r t+1 =Diminished radius of the obstacle at time t+1   n=Number of diminishing time-stamps (typical value=5)       

     
       
         
           
             
               
                 
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                 Where, 
                 M (x t , y t , r t )=Predicted future position of obstacle with diminishing radius at time-stamp t. 
                 Hence the occupancy of the obstacle as a function of time on the predicted future trajectory can be modeled as: Σ t=0   n-1  M(x t , y t , r t ) 
               
             
           
         
       
    
     Referring back to  FIG. 3C , at step  328  of the method ( 300 ), a navigation local policy for the tele-robot  104  is determined by passing the geo-centric map through a Fast Marching Motion Planner(FMMP) using the goal points, the current position of the tele-robot  104  and the interactive object position/the future dynamic object position. 
     In an embodiment, the fast marching method is a numerical technique for finding approximate solutions to boundary value problems of an Eikonal equation and can be expressed as shown below: 
         F ( x )|∇ T ( x )|=1
 
     An example scenario has been illustrated in  FIG. 11A  and  FIG. 11 .B, wherein the  FIG. 11 .A illustrates an input video feed is and  FIG. 11B  illustrates the navigation local policy generated using the disclosed in-situ intelligent navigation techniques. 
     The written description describes the subject matter herein to enable any person skilled in the art to make and use the embodiments. The scope of the subject matter embodiments is defined by the claims and may include other modifications that occur to those skilled in the art. Such other modifications are intended to be within the scope of the claims if they have similar elements that do not differ from the literal language of the claims or if they include equivalent elements with insubstantial differences from the literal language of the claims. 
     Experimental Results 
     An experiment has been conducted for a doctor-patient interaction. The experiment has been conducted based on state of art techniques (active neural SLAM and occupancy anticipation techniques) and the present disclosure of navigation of a tele-robot in dynamic environment using in-situ intelligence. During the doctor-patient interaction, the patient is in isolation and the tele-robot is in communication (based on disclosed application layer communication semantic) with a master that is located in a different location as shown in  FIG. 12 . During the course of communication, the master shares an autonomous mode based on the application layer communication semantic to the tele-robot. The experimental results have been illustrated as a graph in  FIG. 13 , wherein the y-axis represents a success percentage that is indicative of (a) no collision (b) navigation till goal point. Further the x-axis represents the types of objects, specially the interactive object and the dynamic object identification and non-collision as experimented based on 3 types of techniques—active neural SLAM, occupancy anticipation techniques and the present disclosure (represented as current work on the graph). 
     The embodiment of present disclosure herein is a method and a system for navigation of a tele-robot in dynamic environment using in-situ intelligence. Tele-robotics is the area of robotics concerned with the control of robots (tele-robots) in a remote environment from a distance. In reality, the remote environment where the tele robot navigates may be dynamic in nature with unpredictable movements, making the navigation extremely challenging. The disclosure proposes an in-situ intelligent navigation of a tele-robot in a dynamic environment. The disclosed in-situ intelligence enables the tele-robot to understand the dynamic environment by identification and estimation of future location of objects based on a generating/training a motion model. Further the disclosed techniques also enable communication between a master  102  and the tele-robot (whenever necessary) based on an application layer communication semantic. 
     It is to be understood that the scope of the protection is extended to such a program and in addition to a computer-readable means having a message therein; such computer-readable storage means contain program-code means for implementation of one or more steps of the method, when the program runs on a server or mobile device or any suitable programmable device. The hardware device can be any kind of device which can be programmed including e.g. any kind of computer like a server or a personal computer, or the like, or any combination thereof. The device may also include means which could be e.g. hardware means like e.g. an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination of hardware and software means, e.g. an ASIC and an FPGA, or at least one microprocessor and at least one memory with software processing components located therein. Thus, the means can include both hardware means and software means. The method embodiments described herein could be implemented in hardware and software. The device may also include software means. Alternatively, the embodiments may be implemented on different hardware devices, e.g. using a plurality of CPUs. 
     The embodiments herein can comprise hardware and software elements. The embodiments that are implemented in software include but are not limited to, firmware, resident software, microcode, etc. The functions performed by various components described herein may be implemented in other components or combinations of other components. For the purposes of this description, a computer-usable or computer readable medium can be any apparatus that can comprise, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. 
     The illustrated steps are set out to explain the exemplary embodiments shown, and it should be anticipated that ongoing technological development will change the manner in which particular functions are performed. These examples are presented herein for purposes of illustration, and not limitation. Further, the boundaries of the functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternative boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed. Alternatives (including equivalents, extensions, variations, deviations, etc., of those described herein) will be apparent to persons skilled in the relevant art(s) based on the teachings contained herein. Such alternatives fall within the scope of the disclosed embodiments. Also, the words “comprising,” “having,” “containing,” and “including,” and other similar forms are intended to be equivalent in meaning and be open ended in that an item or items following any one of these words is not meant to be an exhaustive listing of such item or items, or meant to be limited to only the listed item or items. It must also be noted that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. 
     Furthermore, one or more computer-readable storage media may be utilized in implementing embodiments consistent with the present disclosure. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the embodiments described herein. The term “computer-readable medium” should be understood to include tangible items and exclude carrier waves and transient signals, i.e., be non-transitory. Examples include random access memory (RAM), read-only memory (ROM), volatile memory, nonvolatile memory, hard drives, CD ROMs, DVDs, flash drives, disks, and any other known physical storage media. 
     It is intended that the disclosure and examples be considered as exemplary only, with a true scope of disclosed embodiments being indicated by the following claims.