06809490 is referenced by 283 patents and cites 36 patents.

A control system for a mobile robot (

10

) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (

51

) and a random bounce mode (

49

). In other embodiments, spot coverage, such as spiraling (

45

), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

Title
Method and system for multi-mode coverage for an autonomous robot
Application Number
10/167851
Publication Number
6809490 (B2)
Application Date
June 12, 2002
Publication Date
October 26, 2004
Inventor
Philip R Mass
Boston
MA, US
Joseph L Jones
Acton
MA, US
Agent
Gesmer Updegrove
US
Glen D Weinstein Esq
US
Assignee
iRobot Corporation
MA, US
IPC
B25J 5/00
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