Patent Document ID: 9606963
Application ID: 13755205
Patent Status: 1

Claim One:
1. A method for evaluating a trajectory function to be followed by a physical device of a physical system, comprising the steps of: providing the trajectory function; determining a set of sampling points at which a physical action is performed by the physical device of the physical system by sampling a trajectory based on the trajectory function in the time domain; associating a cell to each of the sampling points of the physical device; assessing at least one cell metric for each of the cells, where the cell metric is an area of the cell, a radius of the cell, a centroid of the cell, a skew of the cell, a height of the cell, or a width of the cell; aggregating the at least one cell metric of the cells to obtain an aggregated metric measure; evaluating the trajectory as determined by the provided trajectory function depending on the aggregated metric measure to optimize the trajectory to be followed by the physical device of the physical system optimizing the trajectory function by adapting a trajectory operator and/or a set of one or more trajectory parameters of the trajectory function depending on a result of an objective function applying the aggregated metric measure; and driving the physical device of the physical system to follow the trajectory.