(19)

(11)

EP 1 820 075 A2

(12)

(88) Date of publication A3: 28.09.2006 (43) Date of publication: 22.08.2007 Bulletin 2007/34 (21) Application number: 05815821.3 (22) Date of filing: 21.10.2005

(51) International Patent Classification (IPC):  G05D 1/02(2006.01) B60W 50/08(2006.01) B60W 50/02(2006.01) B60W 40/02(2006.01) (86) International application number: PCT/US2005/037918 (87) International publication number: WO 2006/047297 (04.05.2006 Gazette 2006/18)

(84) Designated Contracting States: AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR (30) Priority: 22.10.2004 US 972082 22.10.2004 US 971724 22.10.2004 US 971725 22.10.2004 US 972081 22.10.2004 US 971718 (71) Applicant: Irobot Corporation Burlington, Massachusetts 01803-4903 (US)	(72) Inventors: ALLARD, James, R. Newton, MA 02159 (US) BARRETT, David, S. Needham, MA 02192 (US) FILIPPOV, Mikhail Arlington, MA 02476 (US) PACK, Robert, Todd Nashua, NH 03062 (US) SVENDSEN, Selma Andover, MA 01810 (US) (74) Representative: McCall, John Douglas  W.P. THOMPSON & CO. Coopers Building Church Street Liverpool, Merseyside L1 3AB Liverpool, Merseyside L1 3AB (GB)