Patent Document ID: 10108194
Application ID: 15255390
Patent Status: 1

Claim One:
1. A method comprising: determining, by a control system of a vehicle, a target location for an object carried by the vehicle; determining, by the control system, a plurality of points defining a boundary of a volume to be occupied by the object at the target location, wherein the plurality of points are scannable in a sequence by a sensor on the vehicle to produce a scan of the volume; determining, by the control system, a respective field of visibility to each respective point of the plurality of points, wherein the respective field of visibility defines a region of space extending from the respective point such that the respective point is unobstructed to the sensor when the sensor is positioned within the region of space; determining, by the control system, a path for the vehicle to follow to the target location, wherein the respective field of visibility intersects with a respective portion of the determined path such that each respective point of the plurality of points is observable by the sensor along at least a section of the respective portion of the determined path as the vehicle moves along the determined path to the target location; and causing, by the control system, the vehicle to follow the determined path to the target location.