Abstract
Reporters obtained the following quote from the background information supplied by the inventors:“This specification relates to robotic control systems. A robo tic control system is a software systemthat controls the actions of physical de vices, e.g., actuators or robots. Robotic control systems oftenhave robotic pla nners that utilize simulators to evaluate candidate control plans or to allow us ers toobserve the effects of a candidate control plan. Different components of such systems might representcollision exclusion relationships in different form ats. For example, some planning systems represent collisionexclusion relationsh ips using a graph, while some simulators represent collision exclusion relations hips usingbitmasks. Converting between these formats is in general an NP hard p roblem computationally. Therefore,as the number of objects to be simulated grow s, the computational cost of performing the conversionquickly becomes prohibiti vely expensive to use for real-world robotics applications.”
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