Patent Document ID: 10120387
Application ID: 15897565
Patent Status: 1

Claim One:
1. A method for responding to a technological imperfection associated with a task of a robot, comprising: at a command time, receiving a command to travel to an endpoint location; detecting a delocalization event within a predetermined time window of the command time; in response to delocalization event detection: performing a data-acquiring action, comprising sampling a feature of an ambient environment using a location sensor on-board the robot over a predetermined time period; and concurrently performing an expressive action over the predetermined time period; determining a robot location based on the feature and a predetermined internal map, the internal map comprising the endpoint location; generating navigation instructions to the endpoint location based on the robot location and the internal map; controlling the robot to traverse through the ambient environment based on the navigation instructions; during robot traversal through the ambient environment based on the navigation instructions, detecting a collision between a front bumper of the robot and an external obstacle; in response to collision detection, performing a second expressive action, comprising actuating a head of the robot downward toward the external obstacle and reversing away from the external obstacle; generating secondary navigation instructions based on an obstacle location, determined based on the detected collision; and controlling the robot to traverse though the ambient environment based on the secondary navigation instructions.