Patent attributes
Provided is a tangible, non-transitory, machine-readable medium storing instructions that when executed by a processor effectuate operations including: obtaining, with one or more rangefinder sensors positioned on a mobile automated device, distances from the one or more rangefinder sensors to a surface; monitoring, with the processor, the distances sensed by each of the one or more rangefinder sensors; detecting, with the processor, an edge when a change in the distances is greater than a predetermined amount; and actuating, with the processor, the mobile automated device to execute one or more movement patterns upon detecting the edge, wherein the one or more movement patterns initiates movement of the mobile automated device away from the area where the edge was detected.
