US Patent 10353399 Polymorphic path planning for robotic devices

Provided is a robot-implemented, real-time, process to plan a coverage path, the process including: obtaining environment-sensor data indicating distances from the robot to surfaces in a portion of a working environment; obtaining odometry-sensor data; based on the environment-sensor data and the odometry-sensor data, determining at least a part of a coverage path of the robot through the working environment; and commanding an electric-motor driver to move the robot along the at least part of the path.