{
  "abstract": "A method performed by a control node for handling communication with a robot device. The control node determines a distance from a planned trajectory and/or path, and a distance from a boundary surface, which distances are related to a command message received from a robot device, wherein the boundary surface is associated to an accuracy requirement. The control node further measures a performance of the trajectory based on the determined distance from the planned trajectory and/or path and from the boundary surface. The control node further evaluates an effect of the measured performance for the robot device.",
  "assignees": [
    "TELEFONAKTIEBOLAGET LM ERICSSON PUBL"
  ],
  "authors": [
    "Rácz Sándor",
    "REIDER NORBERT"
  ],
  "canonical_url": "https://opentechnical.org/p/OT-2026-000001013",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 97
  },
  "figures": [],
  "files": [
    {
      "bytes": 9645,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "3fa34f7c9c8831c264a5f08c38857e7d35f4223c5250664f70b4b05ce23f3979"
    },
    {
      "bytes": 1030,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "532565ebc7b169cb5de2280d6d1acb3c176bce7e17282e3c009bb5962fc09cb5"
    },
    {
      "bytes": 1150,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "8a427fd115acc4500d9413ef10ae5fe6429dab1f732d9d8f226c7b499f80afc2"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000001013/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "b25j9/1664",
    "b25j9/1674",
    "b25j9/1674",
    "b25j9/16",
    "b25j9/1674"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000001013",
  "published_at": "2026-09-15T19:03:44.114249Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-04-09",
  "source_id": "US-2026097507-A1",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US2026097507A1",
  "supersedes": null,
  "title": "Control node and method performed therein",
  "uuid": "01a0a674-22f1-77b6-8e2a-175ea6a6c850"
}