Patent ID: 8447440

Claim:
A method for performing retrotraverse and self-righting behaviors for a remote vehicle having a control system comprising a memory and being configured to communicate with an operator control unit, the method comprising: executing a persistent self-righting behavior on a computing processor, the self-righting behavior comprising sensing an orientation of the remote vehicle with respect to a supporting surface using an inertial measurement unit and performing a progression of flipper movements until the remote vehicle is righted; and executing a retrotraverse behavior on a computing processor, the retrotraverse behavior comprising: generating a list of time stamped waypoints separated by at least a minimum difference in time and distance; storing the list of time stamped waypoints in the memory; and generating, using a control system, a current return path interconnecting previously-traversed waypoints in reverse order of timestamps upon losing communication with the operator control unit or upon receiving a command from the operator control unit.