Robot plan online adjustment

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints and a footprint space for performing the particular task. The method includes receiving a sensor input from the sensor, and determining from the sensor input that the initial plan requires modification to complete the particular task. The method includes evaluating a plurality of alternative paths, including rejecting one or more alternative paths having any alternative waypoints that are outside the footprint space defined by the initial plan. The method includes selecting an alternative path having alternative waypoints that are all within the footprint space defined by the initial plan. The method includes following, by the robot, the alternative path.

What is claimed is: 
     
         1 . A method performed by one or more computers, the method comprising:
 receiving an initial plan for performing a particular task with a robot having a sensor, wherein the initial plan defines an initial path having a plurality of waypoints, and wherein the initial plan defines a footprint space for performing the particular task;   receiving a sensor input from the sensor;   determining from the sensor input that the initial plan requires modification to complete the particular task;   in response, evaluating a plurality of alternative paths, each alternative path having a respective plurality of alternative waypoints, including rejecting one or more alternative paths having any alternative waypoints that are outside the footprint space defined by the initial plan;   selecting an alternative path having alternative waypoints that are all within the footprint space defined by the initial plan; and   following, by the robot, the alternative path having alternative waypoints within the footprint space defined by the initial plan.   
     
     
         2 . The method of  claim 1 , wherein determining that the initial plan requires modification comprises determining that an object of the task is in a different location than a location specified in the initial plan. 
     
     
         3 . The method of  claim 1 , wherein determining that the initial plan requires modification comprises determining that an obstacle lies on the initial path defined by the initial plan. 
     
     
         4 . The method of  claim 1 , wherein the initial plan is computed offline, and wherein evaluating the plurality of alternative paths is performed online. 
     
     
         5 . The method of  claim 1 , wherein the plurality of alternative paths are computed offline, and wherein evaluating the plurality of alternative paths is performed online. 
     
     
         6 . The method of  claim 1 , wherein evaluating the plurality of alternative paths comprises generating a plurality of alternative paths including performing respective modifications to one or more waypoints of the initial plan. 
     
     
         7 . The method of  claim 1 , wherein evaluating the plurality of alternative paths comprises generating a plurality of alternative paths including adding one or more new waypoints to the initial plan. 
     
     
         8 . The method of  claim 1 , wherein the footprint space comprises coordinates defining boundaries of a three-dimensional volume. 
     
     
         9 . The method of  claim 1 , wherein the footprint space comprises a three-dimensional offset distance from a swept volume. 
     
     
         10 . The method of  claim 1 , wherein selecting the alternative path includes selecting an alternative path that remains outside of a threshold range to an obstacle. 
     
     
         11 . The method of  claim 1 , wherein the footprint space of the initial plan excludes footprint spaces of other robots. 
     
     
         12 . A system comprising one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
 receiving an initial plan for performing a particular task with a robot having a sensor, wherein the initial plan defines an initial path having a plurality of waypoints, and wherein the initial plan defines a footprint space for performing the particular task;   receiving a sensor input from the sensor;   determining from the sensor input that the initial plan requires modification to complete the particular task;   in response, evaluating a plurality of alternative paths, each alternative path having a respective plurality of alternative waypoints, including rejecting one or more alternative paths having any alternative waypoints that are outside the footprint space defined by the initial plan;   selecting an alternative path having alternative waypoints that are all within the footprint space defined by the initial plan; and   following, by the robot, the alternative path having alternative waypoints within the footprint space defined by the initial plan.   
     
     
         13 . The system of  claim 12 , wherein determining that the initial plan requires modification comprises determining that an object of the task is in a different location than a location specified in the initial plan. 
     
     
         14 . The system of  claim 12 , wherein determining that the initial plan requires modification comprises determining that an obstacle lies on the initial path defined by the initial plan. 
     
     
         15 . The system of  claim 12 , wherein the initial plan is computed offline, and wherein evaluating the plurality of alternative paths is performed online. 
     
     
         16 . The system of  claim 12 , wherein the plurality of alternative paths are computed offline, and wherein evaluating the plurality of alternative paths is performed online. 
     
     
         17 . The system of  claim 12 , wherein evaluating the plurality of alternative paths comprises generating a plurality of alternative paths including performing respective modifications to one or more waypoints of the initial plan. 
     
     
         18 . The system of  claim 12 , wherein evaluating the plurality of alternative paths comprises generating a plurality of alternative paths including adding one or more new waypoints to the initial plan. 
     
     
         19 . The system of  claim 12 , wherein the footprint space comprises coordinates defining boundaries of a three-dimensional volume. 
     
     
         20 . A non-transitory computer storage medium encoded with instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:
 receiving an initial plan for performing a particular task with a robot having a sensor, wherein the initial plan defines an initial path having a plurality of waypoints, and wherein the initial plan defines a footprint space for performing the particular task;   receiving a sensor input from the sensor;   determining from the sensor input that the initial plan requires modification to complete the particular task;   in response, evaluating a plurality of alternative paths, each alternative path having a respective plurality of alternative waypoints, including rejecting one or more alternative paths having any alternative waypoints that are outside the footprint space defined by the initial plan;   selecting an alternative path having alternative waypoints that are all within the footprint space defined by the initial plan; and   following, by the robot, the alternative path having alternative waypoints within the footprint space defined by the initial plan.