In order to determine a route for avoiding collision of a movable apparatus, a different movable apparatus as a target of collision is determined, different movable apparatus information that includes at least one of shape information, a current state, a performance, information regarding a task that is being performed of the different movable apparatus, and information regarding a route along which the different movable apparatus is moving is acquired, own movable apparatus information that is information regarding an own movable apparatus corresponding at least to the different movable apparatus information is acquired, a change rate of the route is acquired on the basis of the different movable apparatus information and the own movable apparatus information, and a moving route to be changed is determined on the basis of the change rate of the route.

Methods and systems for collision avoidance, preferably in industrial settings. The systems and methods use a three-dimensional feature map fitted onto a two-dimensional floor plan; determining the absolute position of a first industrial vehicle on the floor plan; determining the absolute position of a second industrial vehicle on the floor plan; detecting a person on images a camera mounted on the second industrial vehicle; determining the relative position of said person on the floor plan relative to said second industrial vehicle; determining the absolute position of said person on the floor plan; determining an alarm contour for the first industrial vehicle on said floor plan; providing the absolute position of said person on the floor plan to the first industrial vehicle, wherein an alarm action is triggered for the first industrial vehicle if the absolute position of said person is detected inside the alarm contour of the first industrial vehicle

An autonomous vehicle navigates an environment in which occlusions block the vehicle's ability to detect moving objects. The vehicle handles this by receiving sensor data corresponding to the environment, identifying one or more particles of a plurality of initialized particles that have a non-zero probability of being associated with a potential occluded actor in the occluded region, and generating a trajectory of the autonomous vehicle for traversing the environment based on spatiotemporal reasoning about the occluded region and taking into account the one or more particles. Each particle may be associated with a potential actor.

A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing or determining trajectories of the robot and a nearby moving object forward in time from their respective current positions, and detecting a conflict from a comparison of the trajectories. The method includes selecting a maneuver to avoid the conflict, and outputting an indication of the maneuver for use in at least one of guidance, navigation or control of the robot to avoid the conflict. Selection of the maneuver includes determining a plurality of angles that describe the conflict such as those at which the robot and moving object observe one another, and/or an angle between their trajectories, and evaluating the plurality of angles to select the maneuver.

A system and a method for an autonomous mobile robot to ride and co-share an elevator with human(s) are disclosure. The core software modules and method proposed include a human detection and localization module, a human identification and state estimation module, a human-robot-interaction module, and an elevator confined space positioning module. Upon an elevator riding task is started, the human detection and localization module and the human identification and state estimation module detect and count the at least one human inside and/or outside the elevator, and the human-robot-interaction module interacts with the at least one human. The elevator confined space positioning module carries out a space positioning inside the elevator according to a result of detecting and counting the at least one human through the human detection and localization module and the human identification and state estimation module, and chooses to enter the elevator or restart another elevator riding task.

A system and a method for an autonomous mobile robot to ride and co-share an elevator with human(s) are disclosure. The core software modules and method proposed include a human detection and localization module, a human identification and state estimation module, a human-robot-interaction module, and an elevator confined space positioning module. Upon an elevator riding task is started, the human detection and localization module and the human identification and state estimation module detect and count the at least one human inside and/or outside the elevator, and the human-robot-interaction module interacts with the at least one human. The elevator confined space positioning module carries out a space positioning inside the elevator according to a result of detecting and counting the at least one human through the human detection and localization module and the human identification and state estimation module, and chooses to enter the elevator or restart another elevator riding task.

A controller used in a system that moves a moving object by remote control comprises: a whereabouts determination unit, if a first detection unit provided at the system detects a target person, the whereabouts determination unit determining whereabouts of the target person on the basis of a detection result of the target person by the first detection unit; a moving object specification unit that specifies the moving object being controlled by the remote control and likely to approach the target person on the basis of the determined whereabouts; and a signal transmission unit that transmits a control signal to the specified moving object. The control signal is a signal for changing a driving mode of the moving object to an alert mode for giving an alert against the target person.

Proposed is a server for remotely controlling a vehicle configured to establish a session for remote control of a vehicle to be transported. The server may receive sensing data from a plurality of sensing devices installed in a certain area, and track spaces corresponding to the certain area, based on the received sensing data. The server may also obtain vehicle control information according to a location of the vehicle to be transported, based on object information related to objects in the tracked spaces and vehicle information about the vehicle to be transported. The server may further transmit the obtained vehicle control information to the vehicle to be transported.

Proposed is a server for remotely controlling a vehicle configured to establish a session for remote control of a vehicle to be transported. The server may receive sensing data from a plurality of sensing devices installed in a certain area, and track spaces corresponding to the certain area, based on the received sensing data. The server may also obtain vehicle control information according to a location of the vehicle to be transported, based on object information related to objects in the tracked spaces and vehicle information about the vehicle to be transported. The server may further transmit the obtained vehicle control information to the vehicle to be transported.

A method of generating driving routes of a plurality of mobile robots including generating a plurality of virtual driving lines in a driving space, generating a pattern of driving behaviors of the mobile robots based on the plurality of generated virtual driving lines, inputting an initial position and a final position of each of the plurality of mobile robots, and generating respective driving routes from the initial position to the final position of each of the plurality of mobile robots on the plurality of generated virtual driving lines based on the generated pattern of the driving behaviors.