US 11,810,050 B2
Robotic package delivery with ad-hoc network fusion localization
Sandeep Sasidharan, Canton, MI (US); and Ling Zhu, Canton, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Aug. 20, 2021, as Appl. No. 17/407,466.
Prior Publication US 2023/0059161 A1, Feb. 23, 2023
Int. Cl. G06Q 10/0832 (2023.01); G05D 1/02 (2020.01); H01Q 3/24 (2006.01); H04W 4/46 (2018.01); H04W 84/18 (2009.01); H01Q 1/32 (2006.01); H04W 4/44 (2018.01)
CPC G06Q 10/0832 (2013.01) [G05D 1/0246 (2013.01); G05D 1/0274 (2013.01); H01Q 1/3208 (2013.01); H01Q 3/24 (2013.01); H04W 4/44 (2018.02); H04W 4/46 (2018.02); H04W 84/18 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for controlling a first robot, comprising:
determining, via a processor, first localization information indicative of a present location of the first robot, wherein the first robot is in communication with one or more of an infrastructure transmission device and a steerable antenna;
receiving, via the processor, second localization information from a delivery vehicle, wherein the second localization information is indicative of the present location of the first robot;
localizing, via the processor, a position of the first robot based on the first localization information and the second localization information;
estimating a confidence value indicative of a relative confidence associated with the location of the first robot;
determining, based on the position of the first robot and the confidence value, whether to navigate, the first robot to a destination; and
navigating the first robot to the destination responsive to determining that the confidence value meets or exceeds a threshold value.