Method, robot system and computer readable medium for determining a safety zone and for path planning for robots

An automated method determines a safety zone for a robot. The robot carries out operations along a specified trajectory. For collision-free operation, a safety zone is determined by: dividing the specified trajectory into a plurality of subtrajectories; determining a plurality of fine-grained envelope cuboids around extreme points of each subtrajectory; and determining a number of optimized envelope cuboids from an enlargement of individual fine-grained envelope cuboids in relation to the volume occupied by the enlarged fine-grained envelope cuboids. The optimized envelope cuboids determined in this way form the safety zone for the trajectory. This automated method can be expanded to multiple trajectories of a robot, multiple robots, and replanning a trajectory for an occupied semaphore zone.