A method and system are provided for characterizing a vehicle motion of an autonomous mobile robot in response to a triggering event. The method and system involve an autonomous mobile robot and a vehicle processor operable to navigate the autonomous mobile robot. The system further includes a motion characterization system coupled to the autonomous mobile robot, the motion characterization system comprising an odometry system operable to collect vehicle motion data associated with the vehicle motion; a triggering component; a storage component for storing an event start time, an event end time and the vehicle motion data between the event start time and the event end time; and a motion characterization processor operable to: receive an initialization input to initiate the triggering event; generate a trigger signal to cause the triggering component to cause the triggering event; and identify the event start time and an event end time.

A motion control method for an adaptive self-reconfigurable pipeline robot based on environmental perception includes: acquiring internal images of the pipeline for scene recognition, segmenting planar surfaces and curved surfaces in the images according to recognition results, and extracting boundary lines of the pipeline; calculating a straight-pipe width, a bent-pipe curvature, a slope angle, and a step height to analyze passability of the robot; designing a path planner and a swing-arm planner to generate a reference trajectory and a swing-arm angle sequence of the robot, performing smoothing, and inputting the reference trajectory and the swing-arm angle sequence into a model predictive control (MPC) motion controller; estimating a position and state of the robot through an Error State Kalman Filter (ESKF) algorithm, and inputting estimation results and collision warning signals into the MPC motion controller; and finally outputting a signal for control of a motor and a swing-arm motor.

A robotic lawn mower includes a drive assembly including a blade and a driving electric motor for driving the blade; a traveling assembly including traveling wheels and a traveling electric motor for driving the traveling wheels; a camera assembly configured to collect a two-dimensional image around the robotic lawn mower; and a processor communicatively or electrically connected to the camera assembly and configured to control an action of the robotic lawn mower according to at least the two-dimensional image; where the processor is further configured to identify a poor terrain condition in the two-dimensional image through semantic segmentation, where the poor terrain condition is one of multiple preset types of poor terrain conditions; verify the poor terrain condition according to a three-dimensional point cloud to obtain a verification result; and plan a traveling route of the robotic lawn mower according to the verification result.

A self-position estimation system for a mobile body, includes: a first self-position estimation unit that estimates a first self-position in a first coordinate system by using a first positioning sensor mounted on the mobile body; a second self-position estimation unit that estimates a second self-position in a second coordinate system by using a second positioning sensor mounted on the mobile body; a self-position convert unit that converts the first self-position estimated by the first self-position estimation unit and expressed in the first coordinate system into an expression format in the second coordinate system; and a self-position correction unit that corrects the first self-position converted into an expression format in the second coordinate system using correction information map data that stores, as correction information, a positional deviation amount of a recording point in a real space expressed in the first coordinate system with respect to the second coordinate system.

A ground-based transport apparatus for transporting a container in a semiconductor manufacturing plant includes a driving controller configured to move the ground-based transport apparatus on a ground of the semiconductor manufacturing plant, a housing on the driving controller, a shelf structure in the housing and including a plurality of shelves, and a manipulator arm assembly in the housing and spaced apart from the shelf structure. The manipulator arm assembly is configured to remove the container from a first shelf of the plurality of shelves, and set the container on a second shelf of the plurality of shelves. The driving controller is further configured to transport the container between a plurality of facilities, and store the container in a ground-based storage apparatus disposed on the ground of the semiconductor manufacturing plant. Each facility of the plurality of facilities includes a substrate treating apparatus. The container stores a substrate.

Disclosed embodiments include power machine, control systems for power machines, and methods of controlling a power machine to automatically couple an implement to an implement carrier of the power machine. Sensors are used to identify positions of a power machine and of an implement, such as a bucket, to be coupled to the implement carrier of the power machine. Control methods are implemented to allow the power machine to be automatically controlled to couple the implement to the implement.