Amazon.com, Inc.
Combined semantic configuration spaces

Abstract:

Disclosed are systems and methods that generate individual semantic layers for different object types within an environment. For each object type semantic layer and for an aerial vehicle, a semantic configuration space may be formed that indicates all valid aerial vehicle configurations in which the aerial vehicle does not collide with objects of the object type that exists in the environment. Finally, a combined configuration space may be formed by overlaying multiple semantic configuration spaces for object types known to be within the environment. The resulting combined configuration space indicates a common area in which the aerial vehicle can navigate according to the configuration of the common area and not collide with any objects of the object types represented by the combined semantic configuration spaces.