08428778 is referenced by 29 patents and cites 1187 patents.

An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.

Title
Navigational control system for a robotic device
Application Number
12/610792
Publication Number
8428778 (B2)
Application Date
November 2, 2009
Publication Date
April 23, 2013
Inventor
Joseph L Jones
Acton
MA, US
Mark J Chiappetta
Chelmsford
MA, US
Daniel N Ozick
Newton
MA, US
David A Cohen
Bookline
MA, US
Gregg W Landry
Gloucester
MA, US
Agent
Fish & Richardson P C
Assignee
iRobot Corporation
MA, US
IPC
G05D 1/02
G05D 3/12
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