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1. WO2021007561 - SYSTEM AND METHOD FOR REAL TIME CONTROL OF AN AUTONOMOUS DEVICE

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INTERNATIONAL SEARCH REPORT (ISR)
Part 1:  1  2  3  4  5  6          Part 2:  A  B  C  D  E 
PATENT COOPERATION TREATY
PCT
INTERNATIONAL SEARCH REPORT
( PCT Article 18 and Rules 43 and 44)
International application No. Applicant's or agent's file reference
PCT/US2020/041711 AA291WO
International filing date (day/month/year) (Earliest) Priority Date (day/month/year)
10 July 2020 10 July 2019
Applicant
DEKA PRODUCTS LIMITED PARTNERSHIP
FOR FURTHER ACTION: See Form PCT/ISA/220 as well as, where applicable, item 5 below.
PART 1
PCT/US2020/041711
This international search report has been prepared by this International Searching Authority and is transmitted to the applicant according to Article 18. A copy is being transmitted to the International Bureau.
It is also accompanied by a copy of each prior art document cited in this report.
1. Basis of the report
a. With regard to the language, the international search was carried out on the basis of:
the international application in the language in which it was filed.
a translation of the international application into                                          which is the language of a translation furnished for the purposes of international search (Rules 12.3(a) and 23.1(b)).
b.
This international search report has been established taking into account the rectification of an obvious mistake authorized by or notified to this Authority under Rule 91 (Rule 43.6bis(a)).
c.
With regard to any nucleotide and/or amino acid sequence disclosed in the international application, the international search was carried out on the basis of a sequence listing:
2. Certain claims were found unsearchable
3. Unity of invention is lacking
This International Searching Authority found multiple inventions in this international application, as follows:
1. claims: 1-21, 35, 66-91
Deriving at least one polygon from the filtered long range sensor point cloud data and locating and labeling at least one substantial discontinuous surface feature, creating a polygon therefrom and building a vehicle path where the autonomous vehicle traverses the substantial discontinuous surface feature.
2. claims: 22-26, 92, 93
Method for managing a global occupancy grid to compute occupied probabilities based on sensor data of an autonomous vehicle, using three grids, namely a global, a static and a local occupancy grid,
3. claims: 27-31
Creating and managing occupancy grids by creating time stamped local measurement occupancy grids, a static surface characteristics occupancy grid and a global occupancy grid, and further manage these grids,
4. claims: 32-34
Updating a global occupancy grid at a new position of the autonomous device by filling the global occupancy grid with static repository values associated with the position
5. claims: 36-55
Real time control of an autonomous wheeled vehicle and determining a surface type based on environmental data and using first and second configurations for controlling the vehicle
6. claims: 56-65
Maintaining a global occupancy grid, while locating positions of an autonomous device, associating them with a local occupancy grid and further updating the grid with confidences and logodds.
1.
As all required additional search fees were timely paid by the applicant, this international search report covers all searchable claims.
2.
As all searchable claims could be searched without effort justifying additional fees, this Authority did not invite payment of additional fees.
3.
As only some of the required additional search fees were timely paid by the applicant, this international search report covers only those claims for which fees were paid, specifically claims Nos.:
4.
No required additional search fees were timely paid by the applicant. Consequently, this international search report is restricted to the invention first mentioned in the claims; it is covered by claims Nos.: 1-21, 35, 66-91
Remark on Protest
The additional search fees were accompanied by the applicant’s protest and, where applicable, the payment of a protest fee.
The additional search fees were accompanied by the applicant’s protest but the applicable protest fee was not paid within the time limit specified in the invitation.
No protest accompanied the payment of additional search fees.
4. Title of the invention
The text is approved as submitted by the applicant.
The text has been established by this Authority to read as follows:
5. Abstract
The text is approved as submitted by the applicant.
The text has been established, according to Rule 38.2, by this Authority as it appears in Box No. IV. The applicant may, within one month from the date of mailing of this international search report, submit comments to this Authority.
6. Drawings
a.
The figure of the drawings to be published with the abstract is Figure No.     1-1    
as suggested by the applicant.
as selected by this Authority, because the applicant failed to suggest a figure.
as selected by this Authority, because this figure better characterizes the invention.
b.
none of the figures is to be published with the abstract.
PART 2
PCT/US2020/041711

A. CLASSIFICATION OF SUBJECT MATTER

     G01S 17/89 (2020.01)i; G01S 17/87 (2020.01)i; G01C 21/30 (2006.01)i
According to International Patent Classification (IPC) or to both national classification and IPC

B. FIELDS SEARCHED

Minimum documentation searched (classification system followed by classification symbols):
     G01S; G01C
Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched:
Electronic data base consulted during the international search (name of data base and, where practicable, search terms used):
EPO-Internal, WPI Data

C. DOCUMENTS CONSIDERED TO BE RELEVANT

Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No.
(1)
X
B-H SCHAFER ET AL, "The Application of Design Schemata in Off-Road Robotics", IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE,Vol. 5, No. 1, 01 January 2013 (2013-01-01), page 4-27,
XP055733621
1-21,35,66-91
the whole document
*
Special categories of cited documents:
"A"
document defining the general state of the art which is not considered to be of particular relevance
"D"
document cited by the applicant in the international application
"E"
earlier application or patent but published on or after the international filing date
"L"
document which may throw doubts on priority claim(s) or which is cited to establish the publication date of another citation or other special reason (as specified)
"O"
document referring to an oral disclosure, use, exhibition or other means
"P"
document published prior to the international filing date but later than the priority date claimed
"T"
later document published after the international filing date or priority date and not in conflict with the application but cited to understand the principle or theory underlying the invention
"X"
document of particular relevance; the claimed invention cannot be considered novel or cannot be considered to involve an inventive step when the document is taken alone
"Y"
document of particular relevance; the claimed invention cannot be considered to involve an inventive step when the document is combined with one or more other such documents, such combination being obvious to a person skilled in the art
"&"
document member of the same patent family
Name and mailing address of the ISA/:
European Patent Office
P.B. 5818, Patentlaan 2, 2280 HV Rijswijk,
Netherlands
Telephone No. (+31-70)340-2040
Facsimile No. (+31-70)340-3016
Date of the actual completion of the international search:
25 September 2020
Date of mailing of the international search report:
07 December 2020
Authorized officer:
Damp, Stephan
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