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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-2026048507-A1, on 19 February 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002714

Motion planning and/or collision determination using continuous environment model

Published
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Classification
Robotics & Automation › Robot Architectures
Inventors
ADU CHALLEN, EWEN PARKER, ISAACSON SETH, LI ADAM, MICHAUX JONATHAN, RICE SEAN, SKINNER KATERINE ANNE, SWAYAMPAKULA RAHUL, VASUDEVAN RAMANARAYAN
Assignee
UNIV MICHIGAN REGENTS
Original source
US-2026048507-A1, the United States Patent and Trademark Office, 19 February 2026
Document SHA-256
e5d578cfa8df090ab63e8e9fc952dcbbedc23eb8a41ac2f0ae35bdf5268477ae

Abstract

A system and method for estimating a collision probability between a robot and a radiance field within a three-dimensional environment includes: determining forward occupancy information indicating potential over-approximating volumes that are able to be occupied by a robot disposed at a starting position; modeling an environment of the robot using a radiance field; and computing a probability of collision between the robot and an obstacle within the environment based on the forward occupancy information and the radiance field. The estimation method is useful for robotic trajectory determination that involves discretizing a trajectory of the robot into a sequence of trajectory segments over time subintervals; computing an upper-bound for a probability of collision between the robot and a radiance field at each of the time subintervals using a Gaussian Splatting model that normalizes 3D Gaussians within the radiance field; and performing real-time trajectory adjustments based on the computed collision probability upper-bounds.

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Citation

OpenTechnical Publication OT-2026-000002714, “Motion planning and/or collision determination using continuous environment model,” published September 15, 2026 at 19:14:51 UTC, https://opentechnical.org/p/OT-2026-000002714.

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