Once an accurate 3D model of the scene has been constructed and image understanding algorithms have detected obstacles, equipment, and other features, a motion planner will decide how to move the robot safely and efficiently through the workspace or terrain. Of particular challenge are situations in which competing constraints and objectives force a robot to consider many options before moving.

We have created robots that plan and move in crowded museum lobbies, steep volcanic slopes, four-lane highways and off-road terrains such as new and old growth forests, rolling grasslands, desert scrub and alpine slopes. As a mobile robot moves it needs to measure its relative and absolute position. We have extensive experience applying GPS and inertial systems as well as techniques to estimate position when GPS is unavailable.

Laser based navigation

Path planning from terrain data

Short range planning