Brain Corp Research Paper Recognized by IEEE Robotics and Automation Letters Journal

A new solution for precise, safe, robotic navigation in commercial applications is outlined.

Brainos中使用的经过验证，精确和安全的运动计划方法的概述，Brainos是商业自治机器人的云连接操作系统，已发表于2019年7月的IEEE机器人和自动化协会（RA-L）的2019年7月版本杂志。同行评审，IEEE机器人技术和自动化信（RA-L）杂志在机器人自动化中发布了创新的应用程序案例研究和重要的研究思想。

Brain Corp的工程团队成立于2009年，面临挑战，要为自主机器人创建可扩展的可扩展操作系统体系结构，该机器人删除了计算限制，以实现在杂乱无章的障碍物环境中运行时安全，高效，机器人操作。“我们为解决此问题的张量动态窗口方法（TDWA）开发了一种用于路径和运动计划的低级算法，” Brain Corp.TDWA的主要新颖性是它的主要新颖性是，它是解决此问题的。”方法学使我们可以使用模型预测控制的全部灵活性。并且由于TDWA确定性地从预定义的集合中选择一个运动原始性，因此它在恒定时间内运行。”

By running in constant time, no matter how the local environment is configured, there is no delay with the robots ability to respond in real time - it will stop immediately if no safe motor command is available, a critical commercial advantage for safe motor command selection and smooth navigation.

该论文的标题为“使用黑框前向模型和运动原始图的精确导航的平行算法”概述了Navigation Planning Architecture Brain Corp的工程团队开发的。通过采用这种独特的体系结构，可以删除商业生存能力的计算约束，从而可以实时精确控制机器人的导航行为。

An example of this precise control can be seen when our BrainOS-powered robots immediately stop when unknown, or unrecognized objects suddenly appear in front of them. In situations like this, a human requires a few seconds to think about what to do, whereas a BrainOS powered robot reacts instantly and consistently.

“我们的方法具有几种适合商业应用程序的属性：它是确定性的，计算上的效率，在恒定时间内运行，可以在任意形状和驱动器类型的平台上使用，” Jean-Baptiste Passot博士说。Brain Corp.副总裁，平台和AI副总裁。

According to the paper, the methods employed by the architectural design use incoming localized information from multiple sensing devices, processed in constant time alongside precomputed costmaps that dictate robotic motion. The key advantage to using a constant time algorithm as opposed to traditional methods is that the robot’s reaction time is then very predictable, ensuring that BrainOS powered robots always make the optimal decision on time.

“Compared to traditional Dynamic Window Approach algorithms, which calculate the cost of each command separately, TDWA evaluates the costs of all motion primitives in a single tensor operation, thus speeding up this computation substantially,” states Sinyavsky. “This allows finer cost discrimination among a larger set of motion primitives with longer time-horizons, which helps avoid dead-end situations without compromising safety.”

This novel approach has resulted in BrainOS-powered robots accumulating an impressive track record since being commercially deployed, with BrainOS powered robots in a variety of form factors boasting 100,000 hours of safe autonomous operations in shopping malls, grocery stores, airports, warehouses and more around the world.

供商业授权制造商s of autonomous robots and mobile equipment, BrainOS works with the de-facto standard for messaging and serialization in robotics applications, Robot Operating System (ROS), enabling those manufacturers the opportunity to leverage existing ROS-enabled projects. BrainOS services are accessible by ROS service calls, actions or message topics, however BrainOS goes above and beyond what ROS is capable of. Additional functionality provided by BrainOS illustrates the scalability of the BrainOS solution. This includes the sensor driver hardware abstraction layer which consists of application-specific firmware and simulation tools, a BrainOS security layer, core middleware libraries, plus other foundational robotic capabilities such as odometry, perception, localization, mapping and motion planning. And that is just what is supplied for baseline robotic functionality.

Brain Corp knows the next step is addressing operations scalability. To jump-start scalability and ensure success, an API framework with user-friendly autonomy, manufacturing, and deployment applications is also furnished, providing our partners with the hard-won knowledge we have learned over the past 10 years. To further empower those partners, BrainOS also comes complete with cloud services for fleet lifecycle management, reporting and more.

Since the architecture is hardware agnostic, it can be easily adapted across different form factors and drive systems: tricycles, differential drives, and other steering platforms. Each of these motorized, wheeled vehicles perform diverse, specialized functions in different environments.

可以在各种行业中找到自动移动机器人，例如在零售，医疗保健，酒店和商业清洁行业，共同执行仓库和工业应用。Brainos动力自动机器人的建造者包括软银机器人，这是机器人解决方案的全球领导者，除了全球工业地板护理设备品牌Tennant Company，Nilfisk，Nilfisk，Minuteman International，智能清洁设备和NSS Enterprises。It’s unknown if any of these companies will achieve the projected autonomous mobile robot industry growth rate of 60% from 2019 to 2025*, but with BrainOS “under the hood”, robotic manufacturers are able to develop and launch customized autonomous mobile products in an accelerated time frame.

* Commercial & Industrial Robotics Report, ABI Research, 2018