Appeal No. 1998-1734
Application No. 07/508,024
inventions. On remand and reconsideration, the examiner again
rejected the claimed subject matter under 35 U.S.C. § 101 as
being directed to nonstatutory subject matter, as well as claims
46-53 under 35 U.S.C. § 112, second paragraph. This appeal
followed.
Representative independent claim 1 is reproduced as follows:
1. A method for planning a physical path for a physical
object to follow in a physical task space in which there
has been a physical change in conditions comprising
executing the following steps in at least one digital
data processing device that includes or is coupled with at
least one computer readable medium:
a. starting from an initialized configuration space data
structure, embodied within the at least one computer storage
medium and representing the physical task space, the
configuration space data structure storing signals
representing the object and its environment;
b. receiving signals indicating the physical change in
conditions;
c. identifying a perimeter of a region in the
configuration space data structure which is affected by the
change in conditions;
d. propagating cost waves in the configuration space
data structure, within the at least one computer readable
medium, from the perimeter to update the signals stored in
the configuration space data structure; and
e. providing parameter signals based on the updated
signals, the parameter signals being usable by the physical
object to follow the physical path.
3
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