A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon...http://www.google.fr/patents/US7668621?utm_source=gb-gplus-shareBrevet US7668621 - Robotic guarded motion system and method
