04777416 is referenced by 282 patents and cites 11 patents.

A recharge docking system for a battery-powered mobile robot which senses when the battery charge is below a predetermined level and halts the travel of the robot at its next navigational node, following which the robot independently plots and negotiates a path from the next node back to a base node at a recharge station, where the batteries are charged.

Title
Recharge docking system for mobile robot
Application Number
6/864028
Publication Number
4777416
Application Date
May 16, 1986
Publication Date
October 11, 1988
Inventor
James F Maddox
Arlington
MA, US
Mark B Kadonoff
Somerville
MA, US
Michael C DiPietro
Tewksbury
MA, US
Robert W George II
Windham
NH, US
Agent
Brian M Dingman
Douglas E Denninger
Joseph S Iandiorio
Assignee
Denning Mobile Robotics
MA, US
IPC
G05D 1/00
H02J 7/00
View Original Source