08594840 is referenced by 41 patents and cites 1029 patents.

An autonomous robot system including a transmitter disposed within a working area and a mobile robot operating within the working area. The transmitter includes an emitter for emitting at least one signal onto a remote surface above the working area. The mobile robot includes a robot body, a drive system configured to maneuver the robot over a surface within the working area, and a navigation system in communication with the drive system. The navigation system includes a receiver responsive to the emitted signal as reflected off of the remote surface and a processor connected to the receiver and configured to determine a relative location of the robot within the working area in response to the receiver responding to the reflected signal.

Title
Celestial navigation system for an autonomous robot
Application Number
12/415554
Publication Number
8594840 (B1)
Application Date
March 31, 2009
Publication Date
November 26, 2013
Inventor
James Paul Frankel
Arlington
MA, US
Mark J Chiappetta
Chelmsford
MA, US
Agent
Fish & Richardson P C
Assignee
iRobot Corporation
MA, US
IPC
G06F 19/00
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