Abstract
From the background information supplied by the inventors, news correspondents o btained the followingquote: “Cleaning patterns available to be executed with ex isting robotic floor cleaners are limited by theirarchitecture, control, sensin g and drive systems. Commercial robotic vacuum cleaners such as the Dyson®Eye, the Roomba®, and many of Samsung’s models use a non-holonomic drive system; i.e. , the drivesuse two independently powered wheels and a caster to provide 3-poin t support for their robotic vacuumcleaners. The two independently powered wheel s can be used to move the robot body in a straight line,a curved line, or to sp in; however, each of these drive systems are only able to move the robotic vacuu mcleaner in a direction that is not perpendicular to the assigned (fixed) orien tation of the robotic vacuumcleaner.
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