A method includes: detecting, through a sensor, a location and a movement direction of the user and an object around the user; specifying the type and the location of the detected object; if the object is a dangerous object and is located in the movement direction of the user, setting a relative position where the robot is to be located relative to the user to a lead position ahead of the user and in a direction different from the movement direction; driving at least one pair of legs or wheels of the robot to cause the robot to move to the lead position; and driving the at least one pair of legs or wheels to cause the robot to accompany the user in the lead position and induce a change in the movement direction of the user.

A computer-implemented method for determining a motion trajectory for a mobile robot based on an occupancy prior indicating probabilities of presence of dynamic objects and/or individuals in a map of an environment. Occupancy priors are determined by a reward function defined by reward function parameters. The determining of the reward function parameters includes: providing semantic maps; providing training trajectories for each of semantic maps; computing a gradient as a difference between an expected mean feature count and an empirical mean feature count depending on each of the semantic maps and on each of the training trajectories, the empirical mean feature count is the average number of features accumulated over the provided training trajectories of the semantic maps, wherein the expected mean feature count is the average number of features accumulated by trajectories generated depending on the current reward function parameters; and updating the reward function parameters depending on the gradient.

Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. The system includes a vehicle having a propeller, a latch mechanism, a pressure switch, and an inspection device. The system includes a control unit in communication with the propeller, the latch mechanism, and the inspection device, and electrically connected to the pressure switch. The control unit powers on responsive to the pressure switch detecting an ambient pressure greater than a minimum threshold. The control unit receives, from the latch mechanism, an indication of a state of the latch mechanism. The control unit determines that the cable used to lower the vehicle into the tank containing the flammable fluid is detached from the vehicle. The control unit commands the propeller to move the vehicle through the flammable fluid. The control unit determines a quality metric of a portion of the tank.

Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system includes a processing device programmed to receive a plurality of images representative of an environment of the host vehicle. The environment includes a road on which the host vehicle is traveling. The at least one processing device is further programmed to analyze the images to identify a target vehicle traveling in a lane of the road different from a lane in which the host vehicle is traveling; analyze the images to identify a lane mark associated with the lane in which the target vehicle is traveling; detect lane mark characteristics of the identified lane mark; use the detected lane mark characteristics to determine a type of the identified lane mark; determine a characteristic of the target vehicle; and determine a navigational action for the host vehicle based on the determined lane mark type and the determined characteristic of the target vehicle.

Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system includes a processing device programmed to receive a plurality of images representative of an environment of the host vehicle. The environment includes a road on which the host vehicle is traveling. The at least one processing device is further programmed to analyze the images to identify a target vehicle traveling in a lane of the road different from a lane in which the host vehicle is traveling; analyze the images to identify a lane mark associated with the lane in which the target vehicle is traveling; detect lane mark characteristics of the identified lane mark; use the detected lane mark characteristics to determine a type of the identified lane mark; determine a characteristic of the target vehicle; and determine a navigational action for the host vehicle based on the determined lane mark type and the determined characteristic of the target vehicle.

This document describes a simulation system that simulates robots and other actors performing tasks in an area. In one aspect, a method includes obtaining a graph representing a physical area. The graph includes area nodes that represent regions of the area that are traversed by a set of actors that perform tasks in the area and terminal nodes that represent regions of the facility where the actors perform the tasks. A set of agents that each include a model corresponding to an actor is identified. At least a portion of the agents includes models for robots that perform tasks in the area. The model of an agent represents durations of time for traversing area nodes and performing tasks are terminal nodes during simulations. A sequence of tasks being performed in the area is simulated using the graph and the set of agents.

This document describes a simulation system that simulates robots and other actors performing tasks in an area. In one aspect, a method includes obtaining a graph representing a physical area. The graph includes area nodes that represent regions of the area that are traversed by a set of actors that perform tasks in the area and terminal nodes that represent regions of the facility where the actors perform the tasks. A set of agents that each include a model corresponding to an actor is identified. At least a portion of the agents includes models for robots that perform tasks in the area. The model of an agent represents durations of time for traversing area nodes and performing tasks are terminal nodes during simulations. A sequence of tasks being performed in the area is simulated using the graph and the set of agents.

A server includes a unit obtaining a position of a registered vehicle, a unit obtaining a vehicle dispatch position, a unit determining a candidate vehicle based on the vehicle dispatch position and the position of the registered vehicle, a unit transmitting information regarding an autonomous driving function of the candidate vehicle to a user device, a unit receiving information for identifying a dispatch vehicle, and a unit transmitting a vehicle dispatch position to the dispatch vehicle. The user device includes a unit receiving the information regarding the autonomous driving function of the candidate vehicle, a unit displaying the information regarding the autonomous driving function of the candidate vehicle, an unit accepting a user operation for selecting the dispatch vehicle, and a unit transmitting the information for identifying the dispatch vehicle to the server.

A server includes a unit obtaining a position of a registered vehicle, a unit obtaining a vehicle dispatch position, a unit determining a candidate vehicle based on the vehicle dispatch position and the position of the registered vehicle, a unit transmitting information regarding an autonomous driving function of the candidate vehicle to a user device, a unit receiving information for identifying a dispatch vehicle, and a unit transmitting a vehicle dispatch position to the dispatch vehicle. The user device includes a unit receiving the information regarding the autonomous driving function of the candidate vehicle, a unit displaying the information regarding the autonomous driving function of the candidate vehicle, an unit accepting a user operation for selecting the dispatch vehicle, and a unit transmitting the information for identifying the dispatch vehicle to the server.

The invention relates to a method for determining a water current velocity profile in a water column by registration of a deviation between a first position and a second position of an underwater vehicle travelling in the water column. A batch of underwater vehicles is deployed from a surface vessel into the water. The vehicle(s) steers to the first position, which for the first batch is a predefined estimated position (PEP). The vehicle is by first means recording the second position, which is the actual position (AP). The difference ?P between the predefined estimated position PEP and the actual position is registered and based on the difference a deviation data set is calculated. An updated current profile or stack of horizontal water current velocities UV is determined.