RELATED APPLICATION

The present application claims the benefit of U.S. Provisional Application No. 61/548,626, entitled ROBOT CONTROL TRANSLATION AND GATEWAY SYSTEM, filed October 18, 2011 , which is incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to surveillance robot networks. More particularly, the present invention relates to management of and communication with one or more surveillance robots. BACKGROUND OF THE INVENTION

During combat and other situations when an adversary may be encountered, obtaining visual surveillance of the surrounding environment can be beneficial. Gaining an appropriate visual vantage point, however, often places individuals and equipment in harm's way. For example, peering through a doorway to look into an adjacent room can expose an individual to hostile fire. Personnel ascending and descending stairwells and entering attic spaces may be similarly exposed to hidden or unexpected dangers.

Outdoor environments can provide similar obstacles to visual surveillance which, when circumnavigated or avoided, may expose an individual to hostile fire. Such obstacles may include, for example, walls, fences, berms, buildings, rock formations, and the like. The use of robotic surveillance systems is becoming increasingly common in these hostile, obstacle-filled environments. The robots used in these surveillance systems are utilized to provide visual images. The small, portable, land-based robots, such as is disclosed in found in U.S. Patent Publication No. 2010/0152922, and U.S. Patent No. 7,559,385, each of which is incorporated herein by reference in its entirety, are examples of robots that can be used in these surveillance systems. After delivery into an area to be surveilled, such as by throwing, the robots can be remotely maneuvered with an operator control unit to position the robot and embedded camera as desired by a user.

Traditionally, each robot is maneuvered by a single operator user who also receives the video or camera data. Operation in this manner can create both operational and tactical problems. For example, the operator user is occasionally forced to physically move his position in order to be within the range of the robot. This can potentially put the operator at risk. Control of a robot cannot be transferred among a plurality of operators, each of whom could be in a better position to safely operate the robot. In a single operator user system, the range of the robot is necessarily limited by the range of the robot's antenna with its controller. Further, it can often be beneficial for non-operators or potential operators to receive the video data, in addition to the operator user. Allowing each actor in the environment access to this information real-time, instead of the information being relayed through the single operator user can be critical to the success of dangerous missions. Traditional operation by a single operator user does not allow for such a feature. Also, in an environment having multiple robots, each robot controlled by a different operator user, a specific controller must be used to control a specific robot. Each of these robots may be controlled according to a different protocol or communication method. No common controller exists for operating each of the robots.

Accordingly, there is a need for a robot control and gateway system that is easy to set up and enables flexible control, advanced network topologies, and complex processing utilizing existing robotic platforms.

SUMMARY OF THE INVENTION

A gateway device for controlling, by a common controller, a throwable, remote- controlled robot, the gateway device comprises, according to an embodiment, at least one robot communication module configured to control the robot in a communication protocol native to the robot, the at least one robot communication module including a robot control radio, at least one client communication module configured to receive commands related to the operation of the robot from the common controller, and a processor having instructions stored on a tangible computer readable medium and in communication with the at least one robot communication module and the at least one client communication module, the processor adapted to receive commands from the at least one client communication module, translate the received commands, and transmit the translated commands to the at least one robot communication module, wherein the communication between the common controller and the at least one client communication module is in a communication protocol foreign to the robot.

A gateway system, in another embodiment of the invention, comprises a throwable, remote-controlled robot, a common controller configured to receive control commands related to the operation of the throwable, remote-controlled robot and to transmit the control commands, and a gateway module including a robot communication module configured to control the robot according to a protocol native to the robot and including a video receiver configured to receive video from the robot that is broadcasting a video signal, a communication module configured to receive the control commands from the common controller and to transmit the video signal to the common controller, a processor having instructions stored on a tangible computer readable medium and in communication with the plurality of robot communication modules and the communication module, the processor adapted to receive commands from the communication module, translate the received commands, transmit the translated commands to the one of the robot communication modules, and receive the video signal from the video receiver and transmit the video signal to the communication module.

In an embodiment of the invention, a method of controlling a throwable, remote- controlled robot over a gateway module via a controller comprises activating the robot, delivering the robot in an area to be surveilled, receiving control commands from the controller related to the operation of the robot, translating the received control commands into a protocol native to the robot, transmitting the translated control commands to the robot. In another embodiment, the method further comprises transmitting the received control commands to a second gateway module prior to translating the control commands, wherein the second gateway module translates the received control commands into a protocol native to the robot and transmits the translated control commands to the robot.

One embodiment of the invention includes a gateway device which allows a robot to be controlled by means which were previously not available by translating commands and video feedback to a common format. One application of the gateway device is to enable the control of a robot using remote a remote controller and software that is standardized, and using a method of communication that is not native to the robot system. For example, a robot which is normally controlled by ZigBee radio transmissions and sends back video on a UHF video channel, can be controlled by the common controller and software through the translation of the ZigBee and UHF video into a standardized communication and video transmission protocols.

One embodiment of the invention includes a gateway system that can include a plurality of robot control modules and video receiver modules that can be independently selected by an operator. The operator can control each robot individually or allow multiple operators, using different installations of the common control software, to control different robots simultaneously.

One embodiment of the invention includes a system that can include multiple gateway modules, with the software enabling the gateway modules to communicate with each other, thereby networking together form a mesh network to extend the range of communication. The extended range of a plurality of gateway modules allows any client controller with the appropriate communication software to communicate with any other gateway module to control any robot that is reachable from any robot control module in the network. One embodiment of the invention includes a gateway robot network system and can include a method for controlling a single robot with multiple robot communication and control modules. A network of gateway modules with compatible robot control modules communicating with each other can implement a software algorithm to select which robot control modules should be used to control a single robot. The robot selection can be based on radio signal intensity, quality, or availability. In another embodiment, the robot selection can be related to the relative geographical position of the robot with respect to the robot control modules.

In one embodiment of the present invention a single control unit or software controller can be used to control many different robots. By enabling a single control unit or software controller, the complexity of environments having multiple different robots is simplified. Further, cost is saved in production of the controllers by having a common implementation. One embodiment of the present invention enables control via different communication methods of robots that were previously only possible to control via a dedicated control unit. For example, a common controller can control each of a plurality of different robots that may be controlled according to a different protocol or communication method.

One embodiment of the present invention enables advanced analytics and sensor capabilities that may not be possible with the on-board electronics of the robot platforms or control units alone. For example, embodiments of the invention can also employ video analysis techniques to determine if the video is important and perform an action, including, but not limited to, the starting of recording, controlling the robot autonomously based on a set of rules, or sending a signal to the controller to alert an operator, or provide other notifications.

In one embodiment of the present invention, the operating range between a robot vehicle and the controller/operator can be extended with the use of a client communication module, within an embodiment of a gateway module that has extended range. In an advantage of such embodiments, the operator is no longer forced to physically move his position in order to be within range of the robot when the robot drives near the outer range limits of the robot's antenna, thus limiting the risk to the operator. In another embodiment of the present invention, the coordination of multiple gateway modules can extend the range of a single controller beyond the range of a single radio module, thereby further expanding the operating area of a robot.

One embodiment of the present invention enables multiple operators to simultaneously view the data and video obtained by the robot. Therefore, control of a robot can be transferred among a plurality of operators, each of whom could be in a better position to safely operate the robot. In other embodiments, one operator can control the robot while another operator or a plurality of operators can view the data and video obtained by the robot. Allowing each of the multiple operators or each of the non- operators, in addition to the operators, real-time access to the data and video obtained by the robot can enable information-critical missions. In embodiments, the data and/or video no longer needs to be relayed through a single operator to other team members.

One embodiment of the present invention enables complex access control for robot operation in order to limit or log the operations and use by an operator of individual robot vehicles. In embodiments, logging functionality can identify the commands that are sent to a robot by an operator and from which controller the command(s) were sent. In an embodiment, a controller having a networked interface to a gateway module can be placed on every tactical team member in the environment, thereby creating an array of potential operators or non-operator data receivers. In an embodiment, a networked interface can be placed on every robot in the environment, so that each robot can begin streaming data at startup, thereby creating an array of data sources. In an embodiment, the system of multiple gateway modules is in an operational configuration after applying power to the respective components. Compared to traditional networks, which often require setup procedures and individual component configuration after power on, embodiments of the invention are seamlessly configured. Efficient and flexible configuration saves time in the field and thus provides increased safety to users. Further, because the components described herein are designed to be throwable, this seamless setup can be critical to mission success. The above summary of the invention is not intended to describe each illustrated embodiment or every implementation of the present invention. The figures and the detailed description that follow more particularly exemplify these embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments of the present invention may be more completely understood in consideration of the following detailed description of various embodiments of the invention in connection with the accompanying drawings, in which:

Figure 1 is a block diagram of a robot control gateway, according to an embodiment of the present invention.

Figure 2 is a block diagram of a robot control gateway, according to an embodiment of the present invention.

Figure 3 depicts a robot control network that includes a pair of robot control gateways, three robots, and three controllers, according to an embodiment of the present invention.

Figure 4 depicts an exemplary embodiment of an operator control unit (OCU), according to an embodiment of the present invention.

Figure 5 depicts a robot control network that includes an interconnected computer network, according to an embodiment of the present invention.

Figure 6 depicts a robot control network that includes a relay controller, according to an embodiment of the present invention. Figures 7A and 7B depict a robot control network according to a mesh control network, according to an embodiment of the present invention. While the present invention is amendable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the present invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention.

DETAILED DESCRIPTION OF THE DRAWINGS

Referring to Figure 1, an embodiment of a gateway module 100 includes at least one robot communication module 102, a processor 104, and a client communication module 106. Each of these modules can include a processor and associated software for controlling the respective behavior of each module.

A robot control radio module 108 included in robot communication module 102 serves to control the robot via a robot's native communication protocol, for example, robot 1 or robot 2. Different radio modules 108 can be used for different robot technologies, for example a robot that could only be controlled by RF frequencies could be controlled with a RF radio module. However, by replacing robot control radio module 108 in gateway module 100 with an infrared (IR) control module, a robot that can only be controlled by emitted IR signals could be controlled by the robot communication module 102. Other communications protocols or methods can likewise be implemented by the respective hardware on the robot and the proper robot control radio module 108.

The video receiver module 110 can receive video from a robot that is broadcasting a video signal for use with robots that includes a video camera and video transmission equipment (not shown). Video receiver module 110 can be replaced as needed to correspond to a robot transmission configuration, or omitted if the controlled robot does not broadcast a video signal. Video receiver module 110 can include a processor, microprocessor or FPGA (not shown) that can add overlay components as controlled by the processor or encode the video into a common digital format. In embodiments, video receiver module 110 receives the video data in an analog format and converts the data to a digital format. In another embodiment, processor 104 converts the data from an analog to digital format.

Client communication module 106 can provide communication with one or more common controllers 112. Client communication module 106 can also interface with additional gateway modules, allowing a plurality of gateway nodules to form a linear or mesh network that can interlink a plurality of controllers with one or more robot vehicles; for example, gateway module 100B as shown in Figure 1. Processor 104, having gateway software 114 instructions stored in a tangible computer readable medium, can be configured to provide the primary capabilities of the gateway system. Commands are received from a controller 112 and then translated by processor 104 and associated translation software into corresponding robot control commands. The control commands are then sent to robot communication module 102 for transmission in order to have the robot move as expected by the operator. Processor 104 can also be configured to receive feedback command data from robot communication module 102, received by robot control radio 108, as well as the video receiver data received by video receiver 110 and send that information in a common format to an appropriate controller unit 112 via client communication module 106. Processor 104 and its associated software can also receive the video from video receiver module 110 and encode it into a format that is understandable by the common controller 112 software.

The common controller unit 112 comprises software configured to receive commands for movement and actions from an operator, and send the control commands to processor 104 via client communication module 106 through a communication medium. In one embodiment, controller 112 can also receive the encoded video and control feedback data from processor 104 and display this data to the operator. In embodiments, an individual controller 112 is operated by a single operator.

In one embodiment, gateway module 100 can utilize an authentication method, configured by software in processor 104. For example: an Access Control List (ACL), username/password, or challenge/response (using simple keys as well as public/private cryptography), and encrypted communications ensure that the robots are only controlled by authorized operators. The authorized operators must respond correctly to the authentication method in order to gain control of a robot vehicle, or receive video or other data from the vehicle. Authentication can also be used to determine the level of access that a controller unit 112 can provide to an operator. For example, a first level of access can be utilized to control a robot, and a second level of access can allow a control unit 112 to transmit or receive the data and video streams from the robot without the ability to control the robot. Myriad different levels of access are considered, depending on the type of user.

Processor 104 and gateway software 114 can include a logging functionality that can identify the commands that are sent to the robot by an operator and from which controller 112 the command(s) were sent. Gateway software 114 can further include other logging features such as time of operation by each controller 112, time of video reception from each video receiver 110, and the particular gateway module(s) 100 for which each robot is enabled, for example.

Gateway module 100 can include a video recording and playback system that can store the video which is received from multiple robots, including robots are not being controlled. This video and data can be stored on a non-volatile computer readable medium, for example a hard disk drive or a flash-drive, for retrieval and playback at a later time.

Processor 104, as implemented by gateway software 114 can also employ video analysis techniques to determine if the video is important and perform an action including but not limited to the starting of recording, controlling the robot autonomously based on a set of rules, or sending a signal to controller 112 to alert an operator or provide other notifications.

Referring to Figure 2, one embodiment of a robot gateway module 200, which has components similar to those described above with respect to gateway module 100, can include a separate gateway communication module 207 that can be configured to communicate exclusively with other gateway modules, for example, gateway module 100 or gateway module 200, in embodiments. A separate controller communication module 209 can interface with one or more controller modules 212. Each gateway module 200 can include a plurality of robot communication modules, for example, those shown in Figure 2 as robot communication module 202 and robot communication module 202. Robot communication module 202, which is substantially similar to robot communication module 102, can be configured to communicate with one or more robot vehicles, such as robot 1 , through a communication protocol that is native to the robot vehicle. For example, robot communication module 202 can comprise robot control radio 208 and video receiver 210, which are substantially similar to robot control radio 108 and video receiver 110 described above. In an embodiment, robot control radio 208 comprises an RF radio configured to transmit and receive RF frequencies. Robot communication module 202B is an example of a communication module implemented by a different communication protocol. For example, robot communication module 202B can comprise robot control IR transceiver 204B and video receiver 210. Video receiver 210 is substantially similar to video receiver 110 described above. However, robot control IR transceiver 204B is configured to transmit and receive infrared (IR) signals to control a corresponding IR-controlled robot; for example, robot 3.

Processor 204 is substantially similar to processor 104, and comprises gateway software 214, which is similar to gateway software 114. Further, processor 204 included in gateway module 200 can coordinate the translation of control and data/video signal to and from the robot vehicles and individual controllers 212. Additionally, processor 204 can be configured with a mesh-networking protocol to coordinate communication links between the plurality of gateway modules. For example, each pair of gateway modules can coordinate a master-slave or peer-to-peer relationship between the gateway modules in order to avoid communication collisions and negotiate the shortest path between individual controllers 212 and the robot vehicle that an operator wishes to control.

Gateway communication module 207 can be configured to communicate exclusively with other gateway modules. The coordination of multiple gateway modules, for example, gateway module X, Y, or Z as shown in Figure 2, can extend the range of a single controller 212 beyond the range of a single radio module. For example, robot control radio 208 or robot control IR transceiver 204B, in embodiments, are limited in traditional single-operator control interfaces by the range of the radios between the robot and the controller. Thus, the operating area of a robot is expanded into other gateways. In an embodiment, for example, another controller 212, Controller Q, can interface to one or more of the gateway modules X, Y, or Z to control robot 1 or robot 3 as described above with respect to controller 112 or controller communication module 209 interfacing controllers 212.

Controller communication module 209 can be configured to interface with one or more controller modules 212. In an embodiment, a token can be passed by controller communication module 209 between controllers 212 to enable joint control of a single robot. For example, the operator to Controller S might initially be granted control of robot 3. Accordingly, Controller S would be granted the controlling token. As robot 3 moves out of the range of appropriate operator of Controller S control, the operator to Controller R would be granted control and Controller R would be granted the controlling token, with the controlling token being revoked from Controller S. Myriad examples of semaphoring control to controllers 212 can be implemented. Referring to Figure 3, in one example embodiment a pair of gateway modules, gateway module 100 and gateway module 200 can establish a communication link. This link can utilize a wired, wireless, or any other suitable networking communication protocol. Gateway module 100 is in communication with robot 10 and operator control unit (OCU) 30. OCU 32 is also configured to receive video and data from robot 10, however in this example embodiment, OCU 32 is in an observation only mode and cannot transmit control commands to robot 10.

OCU 30 can communicate with, and control, robot 10 by transmitting commands to gateway module 100 and receiving a video signal transmitted by gateway module 100, even though OCU 30 and robot 10 may be out of their respective radio ranges. Additionally, OCU 30 can communicate with robot 12 and robot 14 by instructing gateway module 100 to forward commands to gateway module 200, which is in radio range of robot 12 and robot 14.

OCU 34 can communicate directly with robot 14 through a compatible communication protocol shared by OCU 34 and robot 14. In an embodiment where robot 12 and OCU 34 do not include compatible communication means, gateway module 200 can translate commands from OCU 34 into a format native to robot 12. Similarly, video or other data can be translated from robot 12 by gateway module 200 into a format that OCU 34 is capable of receiving. As a result, a common controller is created that enables unique and, in embodiments, proprietary language control over particular robots, and similarly receives unique data from differently-programmed robots.

Referring to Figure 4, an OCU 40 can include a joystick 42 and a LCD screen 44 to provide a mechanism for an operator to control a robot vehicle and observe video transmitted from a camera embedded in the robot vehicle. In one embodiment, the OCU can include a joystick 42 actuated brightness control for the LCD backlight that allows a user to utilize the OCU in a dark environment with less risk of detection due to excess light radiation from the LCD screen 44. An OCU 40 with this option enabled will have the screen fully dimmed (approximately 4% of full brightness) at startup and the setting is reset to that level with every power cycle. This set point was arrived at as the least amount of light emission necessary to be able to see an image in a very low-light environment. The LCD screen 44 can be set to that level at startup to allow the user to adjust only upward from startup. This lets the user be assured that at no time when turning on the OCU 40 that his/her position will be compromised by even a short duration of bright light emission from the LCD screen 44.

To control dimming the operator enters OCU 40 command mode utilized by utilizing the third axis (push-button) of joystick 42. To actuate the third axis of joystick 42, joystick 42 is depressed in the "z" plane ("into" the OCU 40) until the "click" is felt, and then joystick 42 is held down with the third axis engaged. At that point, joystick 42 can control the dimming function, and not operate the robot, until the button is released, where joystick 42 will once again control the robot and not affect the dimming.

When the third axis is depressed and in dimming command mode, joystick 42 can be moved either forward to increase brightness of the LCD screen 44 or in reverse to decrease the brightness. The time from initial low setting to full brightness can be configured to be approximately fifteen seconds. This time provides for fine control of the brightness level by the operator. Alternative time durations can be configured into the OCU or adjusted by the operator in a settings control mode. Internally to the OCU 40, the third-axis joystick 42 button press can be used to initiate an interrupt on an I/O pin of the microprocessor which then controls a PWM line to the LCD backlight LEDs. Due to nonlinearity of the brightness control, an exponential curve is used to approximate linearity.

In one embodiment, the OCU 40 can include additional features for other joystick 42 actions. The OCU 40 can be configured to initiate other behaviors such as IR Dimming, camera zoom in/out, launch a projectile, robotic arm movement, video from a different robot, select control of a different robot, set a countdown for an explosive attached to a robot, extra speed of robot travel, activate a "Quiet" mode, or initiate a "Patrol Mode" (robot autonomously drives in circles allowing the operator to watch a 360 degree field of view).

In one embodiment, the OCU 40 can include multiple features depending on the actuation of joystick 42 to activate various features through a single press and hold, a double press (similar to a double click on a computer mouse), or a single click "on" mode followed by single click "off." The various joystick 42 activations or combinations can be assigned based on operator preferences.

In one embodiment, the OCU 40 can include actuation combination of joystick 42 movements to allow access to different programs or operation commands. For example, Press + circle left. Press + circle right, Press + (2X) left, press + (2X) right, etc. can be utilized by an operator to instruct one or more robot vehicles to perform complex tasks.

In one embodiment, the OCU 40 can include a "click and hold to enter" onscreen menu that requires the operator to depress the third axis of joystick 42 for an extended period (e.g., 3-7 seconds) in order to enter or exit a configuration menu. While in the menu mode the operator can press the third axis of joystick 42 to choose a menu option.

Each of the above OCU embodiments can be configured to operate with multiple gateway modules, for example, gateway module 100 and/or gateway module 200 to provide control over multiple robot vehicles, through multiple gateway modules, with the use of a single OCU 40.

In another embodiment, referring to Figure 5, a robot control network can include an interconnected computer network 302. Robot 306, which is substantially similar to the robots described above, can interface to gateway module 300 just as described above with respect to gateway modules 100 and 200. Instead of operator control unit (OCU) 30, for example, controlling robot 306 and receiving data from robot 306, an interconnected computer network 302 can enable a remote device 304 such as a laptop or desktop computer to control robot 306, as well as receive device from robot 306.

Network 302 can comprise an individual networked computer or a plurality of networked computers, and can be implemented by standard Internet protocols, such as TCP/IP, HTTP, IP, SMTP, or any other protocol. Remote device 304 can connect to network 302 via any of the aforementioned protocols, which can in turn connect to gateway module 300 just as OCU 30 described above.

Because gateway module 300 can translate commands from remote device 304 via network 302 into a format compatible with robot 306 as described above with respect to gateway module 100 and gateway module 200, remote device 304 can remotely control and maneuver robot 306. Similarly, because gateway module 300 can translate video or other data from robot 306 into a format remote device 304 is capable of receiving, remote device 304 can remotely monitor the environment in which robot 306 resides.

In another embodiment, referring to Figure 6, a robot control network can include a relay controller 404 for relay control between components of a control network. Gateway module 400 is substantially similar to the aforementioned gateway modules, as described specifically in gateway module 100 and gateway module 200. OCU 402 is substantially similar to the aforementioned operator control units. Likewise, robot 406 is substantially similar to the aforementioned robots.

Relay controller 404 has substantially the same functionality as the other controllers described above. Relay controller 404 can be mounted on, for example, an unmanned aerial vehicle as depicted in Figure 6, but can also be mounted on any suitable device or object, stationary or movable. Relay controller 404 can thereby provide relay control to robot 406 to further expand the range in which robot 406 can be controlled (and in which data can be received) by OCU 402. For example, OCU 402 can control robot 106 by transmitting commands to gateway module 400. In turn, gateway module 400 relays the commands to relay controller 404, which interfaces to robot 406. Likewise, OCU 402 is also configured to receive video and data from robot 406. Robot 406 transmits data to relay controller 404, which in turn transmits to gateway module 400, which transmits the data to OCU 402.

Figures 7A and 7B depict a robot control network according to a mesh control network, according to an embodiment of the present invention. Referring specifically to Figure 7 A, gateway modules 500A-500F ring a building or other structure, here illustrated as structure 504. OCU 502 interfaces to gateway module 500E and is configured to control and receive data from robot 506. While depicted as interfacing to gateway module 500E, OCU 502 can also interface to any of gateway modules 500A-500F. OCU 502 can control robot 506 by transmitting commands to gateway module

500E. The commands are then transmitted from gateway module 500E to gateway module 500D to gateway module 500C and finally gateway module 500B, where they are transmitted to robot 506. Likewise, OCU 502 can receive a video signal transmitted by robot 506 via transmission from robot 506 to gateway module 500B to gateway module 500C to gateway module 500D and gateway module 500E, where it is transmitted to OCU 502. Because gateway module 500B is nearest in proximity to robot 506, gateway module 500B is selected to transmit to and from robot 506. This selection can be manual by the user of OCU 502, or automatic based on proximity, radio signal intensity, quality, availability, or any other myriad calculations between robot 506 and gateway modules 500 A-5 OOF. Referring to Figure 7B, as robot 506 has moved around structure 504 to a position nearer to gateway module 500C, gateway module 500C is selected to transmit to and from robot 506. The handoff between gateway modules 500 A-5 OOF can continue as robot 506 further moves around structure 504. A mesh control network is thereby enabled by embodiments of the robot control network

Once the aforementioned robot control gateways are implemented, complex processing can likewise be implemented (by, for example, processor 104 or the corresponding processor in any implemented gateway module, or any of the aforementioned modules) to aid the users of the robots. For example, myriad vision methods are enabled by the aforementioned tactical gateways, including, but not limited to motion detection, visual odometry to aid navigation, and object tracking. Further, automated control methods are likewise enabled, including automated or semi-automated mapping, autonomous exploration, patrolling, and semi-assisted search.

The embodiments above are intended to be illustrative and not limiting. Additional embodiments are within the claims. In addition, although aspects of the present invention have been described with reference to particular embodiments, those skilled in the art will recognize that changes can be made in form and detail without departing from the spirit and scope of the invention, as defined by the claims.

Persons of ordinary skill in the relevant arts will recognize that the invention may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the invention may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the invention may comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art.

Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein.