Patent Document ID: 9606542
Application ID: 13348846
Patent Status: 1

Claim One:
1. A robot apparatus for navigating in an environment, comprising: a memory; and at least one processing device, coupled to the memory, operative to: obtain a discretization of said environment to a plurality of discrete regions; determine, using one or more of said at least one processing device of said robot apparatus, a next unvisited discrete region in said environment for said robot apparatus to explore in said exemplary environment using one or more of a breadth-first search and a depth-first search; determine, using one or more of said at least one processing device of said robot apparatus, if at least a second robot encounters a conflict with a path in said environment of said robot apparatus to said next unvisited discrete region in said environment by processing one or more trees generated by said one or more of said breadth-first search and said depth-first search of said second robot; and in response to said conflict detected by processing said one or more trees, generate, using one or more of said at least one processing device of said robot apparatus, one or more of at least one new breadth-first search tree and at least one new depth-first search tree for at least one of said robot apparatus and said second robot, wherein at least one of said robot apparatus and said second robot navigates within said environment using one or more of said at least one new breadth-first search tree and said at least one new depth-first search tree.