US 7,389,210 B2
Movement of an autonomous entity through an environment
Marios Kagarlis, Monaco (Monaco)
Assigned to The Maia Institute, (Monaco)
Appl. No. 10/526,878
PCT Filed Sep. 09, 2003, PCT No. PCT/EP03/50616
§ 371(c)(1), (2), (4) Date Mar. 09, 2005,
PCT Pub. No. WO2004/023347, PCT Pub. Date Mar. 18, 2004.
Prior Publication US 2005/0261886 A1, Nov. 24, 2005
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 7/60 (2006.01)
U.S. Cl. 703—2 47 Claims
OG exemplary drawing
 
1. A method of simulating movement of an autonomous entity through an environment, the method comprising:
providing a provisional path through a model of the environment from a current location to an intended destination;
providing a profile for said autonomous entity;
determining a preferred step towards said intended destination based upon said profile and said provisional path, wherein determining said preferred step comprises determining a first dissatisfaction function for expressing a cost of taking a step comprising a sum of an inconvenience function for expressing a cost of deviating from a given direction and a frustration function for expressing a cost of deviating from a given speed;
determining a personal space around said autonomous entity;
determining whether said preferred step is feasible by considering whether obstructions infringe said personal space; and
recording a feasible preferred step so as to allow movement of said autonomous entity to be determined.