| 摘要 |
Systems (100) and methods (1000) for removing a robotic device (100) from a space. The method comprises: periodically recording poses of a Movable Component (“MC”) as it travels through the space; recording connectivity of the poses; using the poses and connectivity to define paths of travel through a virtual multi-dimensional space of a map; analyzing the map to identify pairs of adjacent waypoint data points that are located distances from each other which are less than a threshold; generating an augmented map by adding new connections between waypoint data points of each said pair; selecting an optimal path of travel through a virtual multi-dimensional space of the augmented map from a current pose of MC (106) to a desired pose of MC; and commanding MC to perform a reverse behavior in which the optimal path is traversed in a first direction so as to remove the same from the space. |
