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1111111111111111111inuuu1111111111u~ (12) United States Patent (io) Patent No.: US 9,626,566 B2 Versace et al. (45) Date of Patent: Apr. 18, 2017 (54) METHODS AND APPARATUS FOR (56) References Cited AUTONOMOUS ROBOTIC CONTROL U.S. PATENT DOCUMENTS (71) Applicants:Neurala, Inc., Boston, MA (US); 5,388,206 A 2/1995 Poulton et al. Trustees of Boston University, Boston, 6,336,051 131 1/2002 Pangels et al. MA (US) (Continued) (72) Inventors: Massimiliano Versace, Boston, MA FOREIGN PATENT DOCUMENTS (US); Anatoly Gorshechnikov, Newton, MA (US); Gennady Livitz, EP 1 224 622 131 7/2002 Belmont, MA (US); Jesse Palma, Wo WO 2014/190208 11/2014 Somerville, MA (US) (Continued) (73) Assignee: Neurala, Inc., Boston, MA (US) OTHER PUBLICATIONS (*) Notice: Subject to any disclaimer, the term of this International Preliminary Report on Patentability in related PCT patent is extended or adjusted under 35 Application No. PCT/US2014/03 9 1 62 filed May 22, 2014, mailed U.S.C. 154(b) by 0 days. Nov. 24, 2015, 7 pages. (21) Appl. No.: 14/662,657 (Continued) (22) Filed: Mar. 19, 2015 Primary Examiner Atiba O Fitzpatrick (65) Prior Publication Data (74) Attorney, Agent, or Firm Cooley LLP US 2015/0269439 Al Sep. 24, 2015 (57) ABSTRACT Related U.S. Application Data (60) Provisional application No. 61/955,756, filed on Mar. Sensory processing of visual, auditory, and other sensor 19, 2014. information (e.g., visual imagery, LIDAR, RADAR)is con- ventionally based on "stovepiped," or isolated processing, (51) Int. Cl. with little interactions between modules. Biological sys- G06K 9/00 (2006.01) tems, on the other hand, fuse multi-sensory information to B25J 9/16 (2006.01) identify nearby objects of interest more quickly, more efli- ciently, and with higher signal-to-noise ratios.
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