{
  "abstract": "A computer-implemented method for ascertaining a control signal of a robot. The method includes: obtaining a position and movement direction of an object; ascertaining a first set of reachable positions of the object with respect to at least one physical model of the movement of the object and a set of time points, wherein the reachable positions of the first set are characterized by a set of first circles which are each assigned to a time point; ascertaining a trajectory of the robot, which is characterized by positions of the robot at time points, wherein each position is characterized by at least one second circle, which corresponds to the time point of the position; ascertaining the control signal depending on whether at a given time point the second circle corresponding to the time point intersects with the first circle corresponding to the time point or touches the first circle.",
  "assignees": [
    "BOSCH GMBH ROBERT"
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    "DIEHL MORITZ",
    "ELSHIEKH ESLAM SALAH ZAKI",
    "Gao Yunfan",
    "HEINZEMANN CHRISTIAN",
    "LANGE RALPH",
    "STASCHULAT JAN",
    "VAN DUIJKEREN NIELS"
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  "title": "Method and device for controlling a robot",
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