US 10379539

US patent 10379539, titled "Systems and methods for dynamic route planning in autonomous navigation," was issued to Brain Corp. The inventors are Borja Ibarz Gabardos and Jean-Baptiste Passot. The patent was filed on June 18, 2018, and issued on August 13, 2019.

Abstract:
The patent describes systems and methods for dynamic route planning in autonomous navigation. A robot utilizes one or more sensors to collect environmental data, including detected points on objects. It then creates an environment map and determines a travel route, which comprises one or more "route poses." Each route pose includes a footprint representing the robot's pose, size, and shape along the route, with multiple points disposed within it. The robot calculates forces on these points, including repulsive forces from environmental objects and attractive forces from other route poses. Based on these forces, the route poses are repositioned. Finally, the robot performs interpolation between the (potentially repositioned) route poses to generate a collision-free path for navigation.

Plain-Language Overview of Independent Claims:

• Independent Claim 1 (Robot): This claim describes a robot equipped with sensors to gather environmental data, including detected points on objects. A controller within the robot is configured to:

  • Create a map from the collected data.
  • Determine a travel route on this map.
  • Generate a series of "route poses" along the route. Each route pose has a footprint (representing the robot's pose) and contains multiple points.
  • Calculate forces on these points, including repulsive forces from detected objects and attractive forces from other route poses.
  • Reposition the route poses based on these calculated forces.
  • Perform interpolation between the repositioned route poses to generate a collision-free path for the robot to follow.

• Independent Claim 9 (Method for dynamic navigation): This claim outlines a method for dynamically navigating a robot, comprising the steps of:

  • Generating an environment map using sensor data.
  • Determining a route on the map, which includes one or more route poses. Each route pose encompasses a footprint (indicating the robot's pose and shape) and has multiple points.
  • Calculating repulsive forces exerted by points on environmental objects onto the points of a specific "first" route pose.
  • Repositioning this first route pose in response to at least these repulsive forces.
  • Performing an interpolation between the repositioned first route pose and another route pose.

• Independent Claim 17 (Non-transitory computer-readable storage apparatus): This claim describes a non-transitory computer-readable storage apparatus containing instructions. When executed by a processing apparatus, these instructions cause the processing apparatus to:

  • Generate an environment map using sensor data.
  • Determine a route on the map, comprising one or more route poses, each with a footprint (indicating the robot's pose and shape) and internal points.
  • Compute repulsive forces from environmental object points onto the points of a specific "first" route pose.

Litigation Status:
The patent status is "Active." There is a record of an associated PTAB (Patent Trial and Appeal Board) case, IPR2025-01601, which was filed in 2025 and marked "Not Instituted - Procedural." The patent family is also noted as having litigation. A search for "CAFC 2026 dockets US10379539" did not yield any specific 2026 docket entries at the U.S. Court of Appeals for the Federal Circuit at this time. Therefore, I cannot authoritatively confirm any CAFC litigation specifically for 2026.