System and method for real-time control of autonomous devices

An autonomous vehicle has sensors that advantageously vary in capability, advantageously locate, and advantageously are unaffected by environmental conditions. A system executing on an autonomous vehicle is capable of receiving a map including, for example, substantially discontinuous surface features and data from sensors, creating an occupancy grid based on the map and the data, and changing a configuration of the autonomous vehicle based on a type of surface on which the autonomous vehicle navigates. The device is capable of safely navigating surfaces and surface features, including traversing discontinuous surfaces and other obstacles. 一种自主车辆，该自主车辆具有在能力上有利地变化、有利地定位并且有利地不受环境状况影响的传感器。一种在自主车辆上执行的系统，能够接收包括例如大体上不连续的表面特征的地图以及来自传感器的数据，基于地图和数据来创建占据栅格，并且基于自主车辆在其上导航的表面的类型来改变自主车辆的配置。设备能够安全地导航表面和表面特征，包括横越不连续的表面和其他障碍物。