08438695 is referenced by 30 patents and cites 1282 patents.

An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.

Title
Autonomous coverage robot sensing
Application Number
13/314398
Publication Number
8438695 (B2)
Application Date
December 8, 2011
Publication Date
May 14, 2013
Inventor
Marc D Strauss
Stanford
CA, US
Daniel E Kee
Somerville
MA, US
Sheila A Longo
Somerville
MA, US
Elaine H Kristant
Dunstable
MA, US
Andrea M Okerholm
Arlington
MA, US
Marcus R Williams
Medford
MA, US
Duane L Gilbert Jr
Goffstown
NH, US
Agent
Fish & Richardson P C
Assignee
iRobot Corporation
MA, US
IPC
A47L 5/00
View Original Source