1. Patent Liability Analysis Andrew Loveless

2. Potential Patent Infringement Autonomous obstacle avoidance 7,587,260 – Autonomous navigation system and method 5,570,285 – Method and apparatus for avoiding obstacles by a robot Environment mapping 6,667,592 – Mapped robot system

3. Autonomous navigation system and method ( US 7,587,260) Filing Date: 7/5/2006 Patent Description Defines robot navigation instructions repeated in a timing loop. Detects objects around robot. Determines if obstacles are within an event horizon defined by robot velocity and position. If object is within event horizon, turn robot to an unblocked lateral side to avoid object.

4. Autonomous navigation system and method ( US 7,587,260) Literal Infringement CLAIMSCOST Robot In each iteration of a timed loop, determine if any obstructions are within specific distance calculated based on robot velocity. Same functionality, but not dependent on robot speed. (seems obvious) If forward motion is blocked, check distance measurement from each side of the robot. Turn to the unobstructed lateral side if one is available. Turn to the furthest side if both are obstructed. Same functionality, but turn back if all paths are obstructed. (seems obvious)

5. Method and apparatus for avoiding obstacles by a robot ( US 5,570,285) Filing Date: 9/14/1994 Patent Description Defines method for determining robot steering angle based on object proximity. Defines danger level function based on distance from obstacles and time differential. Adjusts robot movement based on danger level.

6. Doctrine of Equivalents CLAIMSCOST Robot Calculates steering angle and velocity for obstacle avoidance based on danger level calculated using distance sensor readings. Three short range sensors determine wall proximity. Motor output adjusts on each side of the robot when wall is within distance threshold. Uses function to determine proper steering angle using all distance input parameters. Uses digital compass to determine proper steering angle. Adjusts robot velocity as danger level fluctuates. Robot moves at constant predetermined speed. Method and apparatus for avoiding obstacles by a robot ( US 5,570,285)

7. Mapped robot system ( US 6,667,592) Filing Date: 12/23/2003 Patent Description Defines method of moving to a specified location within a predetermined map in order to a perform localized task. Defines method for referencing stored map and updating it as obstacles are encountered.

8. Doctrine of Equivalents CLAIMSCOST Robot Edits a stored map of the area as obstacles are encountered. Stores node and wall locations in memory. The information is interpreted and a map representation is built by a PC. Robot is commanded by operator to perform task at desired location. Robot travels to light location (already determined) within the maze. Robot sends information to operator when task is complete. Robot illuminates LED to indicated when light is revisited. Mapped robot system ( US 6,667,592)

9. Questions ?