1. A method of managing resources for a robot, the method comprising:
associating observations of a first set of one or more continuous signals with a first map;
associating observations of a second set of one or more continuous signals with a second map, wherein the second map is maintained independently the first map; and
switching between performing simultaneous localization and mapping (SLAM) with the first map or performing SLAM with the second map based at least partly on an observed signal strength of the first set or the second set.
2. The method of claim 1, further comprising:
observing a plurality of sets of one or more continuous signals including the first set and the second set, wherein each of the plurality of observed sets is associated with a separate map;
determining that a largest observed signal strength of the plurality of observed sets is larger in magnitude than a signal strength of a set currently being used for performing SLAM; and
switching to performing SLAM with the set with the largest observed signal strength.
3. The method of claim 1, further comprising:
observing a plurality of sets of one or more continuous signals including the first set and the second set, wherein each of the plurality of observed sets is associated with a separate map;
determining that a largest observed signal strength of the plurality of observed sets is at least a predetermined factor larger in magnitude than a signal strength of a set currently being used for performing SLAM; and
switching to performing SLAM with the set with the largest observed signal strength.
4. The method of claim 3, wherein the predetermined factor is a factor of 2.
5. The method of claim 1, wherein the first set of one or more continuous signals and the second set of one or more continuous signals comprise reflections of spots of infrared light.
6. The method of claim 1, further comprising distinguishing among the different reflections of spots of infrared light based on frequency.
7. The method of claim 1, wherein the robot comprises an autonomous robotic cleaner, the method further comprising performing SLAM while cleaning a surface.
8. An apparatus comprising:
a robot;
a controller of the robot configured to:
associate observations of a first set of one or more continuous signals with a first map;
associate observations of a second set of one or more continuous signals with a second map, wherein the second map is maintained independently the first map; and
switch between performing simultaneous localization and mapping (SLAM) with the first map or performing SLAM with the second map based at least partly on an observed signal strength of the first set or the second set.
9. The apparatus of claim 8, wherein the controller is further configured to:
observe a plurality of sets of one or more continuous signals including the first set and the second set, wherein each of the plurality of observed sets is associated with a separate map;
determine that a largest observed signal strength of the plurality of observed sets is larger in magnitude than a signal strength of a set currently being used for performing SLAM; and
switch to performing SLAM with the set with the largest observed signal strength.
10. The apparatus of claim 8, wherein the controller is further configured to:
observe a plurality of sets of one or more continuous signals including the first set and the second set, wherein each of the plurality of observed sets is associated with a separate map;
determine that a largest observed signal strength of the plurality of observed sets is at least a predetermined factor larger in magnitude than a signal strength of a set currently being used for performing SLAM; and
switch to performing SLAM with the set with the largest observed signal strength.
11. The apparatus of claim 10, wherein the predetermined factor is a factor of 2.
12. The apparatus of claim 8, wherein the first set of one or more continuous signals and the second set of one or more continuous signals comprise reflections of spots of infrared light.
13. The apparatus of claim 8, wherein the controller is further configured to distinguish among the different reflections of spots of infrared light based on frequency.
14. The apparatus of claim 8, wherein the robot comprises an autonomous robotic cleaner, wherein the controller is further configured to perform SLAM while the robot is cleaning a surface.
15. An apparatus for managing resources for a robot, the apparatus comprising:
a means for associating observations of a first set of one or more continuous signals with a first map;
a means for associating observations of a second set of one or more continuous signals with a second map, wherein the second map is maintained independently the first map; and
a means for switching between performing simultaneous localization and mapping (SLAM) with the first map or performing SLAM with the second map based at least partly on an observed signal strength of the first set or the second set.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for reporting link information in a communication system including a communication terminal and a plurality of transceivers with each of which the communication terminal can communicate over a respective communication link; the method comprising:
the communication terminal determining link information for each of at least a first subset of the communication links; and the communication terminal periodically transmitting link message, each link message containing link information for a first set of the communication links selected from said first subset of the communication links, and the link messages being formatted such that groups of successive link messages collectively contain link information for a larger set of the communication links contained in the first subset of the communication links.
2. A method as claimed in claim 1, wherein link information for at least one of the communication links is contained in each of successive link messages.
3. A method as claimed in claim 2, comprising the step of determining a subset of the communication links having the best link according to a selected measure, and wherein link information for the communication links of that subset is contained in each of successive link messages.
4. A method as claimed in claim 3, wherein the subset consists of two communication links.
5. A method as claimed in claim 4, wherein periodically link messages contain link information for the same ones of the communication links.
6. A method as claimed in claim 2, wherein the communication terminal is capable of transmitting the link information in a plurality of schemes according to which link information is distributed between successive link messages.
7. A method as claimed in claim 6, wherein the communication system includes a control unit coupled to the transceivers, and the method comprises the step of causing at least one of the transceivers to transmit a scheme selection signal to the communication terminal indicative of the one of the plurality of schemes to be used by the communication terminal.
8. A method as claimed in claim 7, wherein the scheme selection signal is transmitted on a broadcast channel.
9. A method as claimed in claim 7, wherein the scheme selection signal is transmitted as part of a system information message.
10. A method as claimed in claim 7, comprising the step of operating the communication terminal in response to the scheme selection signal so as to use the scheme indicated by the scheme selection signal.
11. A method as claimed in claim 7, wherein one of the schemes involves transmitting link information for a set of the communication links in alternate link messages.
12. A method as claimed in claim 7, wherein one of the schemes involves transmitting link information for a set of the communication links in every third link message.
13. A method as claimed in claim 12, wherein the link messages are transmitted over at least one of the said communication links.
14. A method as claimed in claim 13, wherein each link message is sent in a respective multiframe of communications over the said communication links.
15. A method as claimed in claim 14, wherein each link message contains link information of six of the communication links.
16. A method as claimed in claim 15, wherein the link information for a communication link is indicative of the quality of communications over that link.
17. A method as claimed in claim 16, comprising the steps of receiving the link information and making a handover decision for the communication terminal on the basis of the link information.
18. A method as claimed in claim 17, comprising the step of the communication terminal signaling that it is capable of operating so as to transmit successive link messages containing link information for different ones of the communication links.
19. A method as claimed in claim 18, wherein the step of the communication terminal signaling that is capable of operating so as to transmit successive link messages containing link information for different ones of the communication links is performed on establishments by the communication terminal of a connection with the system, and
wherein the communication terminal is a radio telephone.
20. A method as claimed in claim 19, wherein the communication terminal is a radio telephone.
21. A method as claimed in claim 20 19, wherein each transceiver is a base station transceiver of a radio telephone system.
22. A communication system comprising:
a communication terminal;
a plurality of transceivers with each of which the communication terminal can communicate over a respective communication link;
the communication terminal comprising link measurement means for measuring link information for each of at least a subset of the communication links;
transmission means for periodically transmitting link messages, each link message containing link information for a first set of the communication links selected from the subset of the communication links; and
link message forming means for forming the link messages such that groups of successive link messages collectively contain link information for a larger set of the communication links of the subset of the communication links.
23. A communication terminal for operation in a radio telecommunications system, the terminal comprising:
communication means for communicating with one or more of a plurality of radio transceivers over a set of respective communication links;
measurement means for measuring, for each of at least a subset of the transceivers, a quality of signals received from each of the said transceivers a transceiver over a respective one of the communication links; and
measurement message generation means for generating measurement messages for transmission by the communication means, each measurement message containing measured quality information for a first subset of the communication links;
the measurement message generation means being capable of generating a series of measurements measurement messages, wherein groups of successive measurement messages collectively contain measured quality information for a larger subset of the communication links.
24. A control unit for operating in a communication system, the communication system including a communication terminal and a plurality of transceivers with each of which the communication terminal can communicate over a respective communication link, the communication system being arranged to perform a method of reporting link information comprising:
the communication terminal determining link information for each of the communication links; and
the communication terminal periodically transmitting link messages, each link message containing link information for a first set of the communication links, and the link messages being formatted in accordance with a predetermined scheme such that groups of successive link messages collectively contain link information for a set of communication links larger than the first set of communication links;
the control unit being coupled to the transceivers and being arranged to cause at least one of the transceivers to transmit a scheme selection signal to the communication terminal indicative of the one of the plurality of schemes to be used by the communication terminal.
25. A method for reporting link information in a communication system including a communication terminal and a plurality of transceivers with each of which the communication terminal can communicate over a respective communication link; the method comprising:
the communication terminal determining link information for each of at least a first subset of the communication links; and
the communication terminal periodically transmitting link messages, each link message containing link information for a set of the communication links selected from said first subset of the communication links, and the link messages being formatted such that groups of successive link messages collectively contain link information for a larger set of the communication links contained in the first subset of the communication links,
wherein the transceiver receives a scheme selection signal from a control unit, the scheme selection signal indicating one of a plurality of schemes to be used for transmitting the link messages.
26. A communication terminal for operation in a radio telecommunications system, the terminal comprising:
a terminal transceiver unit to communicate with one or more of a plurality of radio transceivers over a set of respective communication links;
a measurement unit to measure, for each of at least a subset of the radio transceivers, a quality of signals received from a radio transceiver over a respective one of the communication links; and
a terminal control unit to generate measurement messages for transmission by the terminal transceiver unit, each measurement message containing measured quality information for a subset of the communication links; the terminal control unit to generate a series of measurement messages, wherein groups of successive measurement messages collectively contain measured quality information for a larger subset of the communication links.
27. A processor-readable medium containing software code that, when executed by a processor, causes the processor to implement a method for reporting link information in a communication system including a plurality of transceivers with each of which the processor can communicate over a respective communication link, the method comprising:
determining link information for each of at least a first subset of the communication links; and
periodically transmitting link messages, each link message containing link information for a set of the communication links selected from said first subset of the communication links, and the link messages being formatted such that groups of successive link messages collectively contain link information for a larger set of the communication links contained in the first subset of the communication links.
28. A communication terminal comprising a processor to execute software, wherein the software, when executed by the processor, causes the processor to implement a method for reporting link information in a communication system including a plurality of transceivers with each of which the communication terminal can communicate over a respective communication link, the method comprising:
determining link information for each of at least a first subset of the communication links; and
periodically transmitting link messages, each link message containing link information for a set of the communication links selected from said first subset of the communication links, and the link messages being formatted such that groups of successive link messages collectively contain link information for a larger set of the communication links contained in the first subset of the communication links.
29. A communication terminal comprising a processor and software to be executed by the processor, wherein when executed, the software causes the processor to implement a set of modules comprising:
a terminal transceiver unit to communicate with one or more of a plurality of radio transceivers over a set of respective communication links;
a measurement unit to measure, for each of at least a subset of the radio transceivers, a quality of signals received from a radio transceiver over a respective one of the communication links; and
a terminal control unit to generate measurement messages for transmission by the terminal transceiver unit, each measurement message containing measured quality information for a subset of the communication links; the terminal control unit to generate a series of measurement messages, wherein groups of successive measurement messages collectively contain measured quality information for a larger subset of the communication links.