07430455 is referenced by 118 patents and cites 298 patents.

A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.

Title
Obstacle following sensor scheme for a mobile robot
Application Number
11/834553
Publication Number
7430455 (B2)
Application Date
August 6, 2007
Publication Date
September 30, 2008
Inventor
Joseph L Jones
Acton
MA, US
Daniel Ozick
Newton
MA, US
Matthew Cross
Mason
NH, US
Christopher Casey
Lexington
MA, US
Agent
Fish & Richardson P C
Assignee
iRobot Corporation
MA, US
IPC
G06F 19/00
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