Autonomously motile device with remote control

1. A computer-implemented method comprising:

displaying, on a screen of a user device, an image corresponding to image data received from an autonomously motile device, the image data representing a portion of a physical space;

determining data representing an input at the screen of the user device, the input corresponding to an x-coordinate of the screen and a y-coordinate of the screen;

determining a first ratio of the x-coordinate to a width of the screen;

determining a horizontal field of view of a camera of the autonomously motile device;

determining, based at least on the horizontal field of view and the first ratio, a travel direction of the autonomously motile device;

determining a second ratio of the y-coordinate to a height of the screen;

determining, based at least on the second ratio, a travel distance of the autonomously motile device;

determining a first destination, in a physical space, corresponding to the travel direction and the travel distance; and

causing the autonomously motile device to move to a location in the physical space corresponding to the first destination.

2. The computer-implemented method of claim 1 , further comprising:

determining a time of capture of image data displayed on the screen at a time of image data of the autonomously motile device corresponding to the input;

determining a position of the autonomously motile device at the time;

determining an orientation of a camera of the autonomously motile device at the time;

determining, based on the first destination, the position, and the orientation, a second destination; and

causing the autonomously motile device to move to the second destination.

3. The computer-implemented method of claim 1 , further comprising:

determining, using a map of the physical space, that a path to the first destination intersects an obstruction; and

at least one of:

shortening the travel distance, or

altering the path.

4. The computer-implemented method of claim 1 , wherein determining the travel distance comprises:

determining, using the first ratio and the second ratio, a ray extending from a present position of the autonomously motile device; and

determining that the ray intersects with a representation of an obstacle or a representation of a floor in the physical space.

5. The computer-implemented method of claim 4 , wherein determining the travel direction comprises:

determining a difference between the present position and a position of the autonomously motile device at a time of image data of the autonomously motile device corresponding to the input; and

determining the travel direction by modifying the second ratio based at least in part on the difference.

6. The computer-implemented method of claim 1 , wherein determining the travel distance comprises:

determining that the travel distance is greater than a first distance, the first distance corresponding to a portion of the physical space proximate to the autonomously motile device and outside a field of view of the camera; and

determining that the travel distance is less than a second distance corresponding to a size of the physical space.

7. The computer-implemented method of claim 6 , further comprising:

determining a height of the camera with respect to ground;

determining a lower limit of a vertical field of view of the camera; and

determining the first distance using the height and the lower limit.

8. The computer-implemented method of claim 1 , further comprising:

determining, using a two-dimensional map of the physical space, that a path to the first destination intersects a first obstruction; or

determining, using a three-dimensional map of the physical space, that the path to the first destination intersects a second obstruction different from the first obstruction.

9. The computer-implemented method of claim 1 , wherein determining the travel direction comprises:

determining a present orientation of the camera;

determining a time corresponding to image data of the autonomously motile device corresponding to the input; and

determining a difference between the present orientation and an orientation of the camera at the time.

10. The computer-implemented method of claim 1 , further comprising:

determining a present time;

determining a time corresponding to the input; and

prior to causing the autonomously motile device to move to the first destination determining that a difference between the present time and the time is less than a threshold.

11. The computer-implemented method of claim 1 , further comprising:

sending, from the user device to the autonomously motile device, the x-coordinate and y-coordinate,

wherein determining the first ratio and determining the second ratio are performed by the autonomously motile device.

12. A system comprising:

at least one processor; and

at least one memory including instructions that, when executed by the at least one processor, cause the system to:

display, on a screen of a user device, an image corresponding to image data received from an autonomously motile device, the image data representing a portion of a physical space;

determine data representing an input at the screen of the user device, the input corresponding to an x-coordinate of the screen and a y-coordinate of the screen;

determine a first ratio of the x-coordinate to a width of the screen;

determine a horizontal field of view of a camera of the autonomously motile device;

determine, based at least on the horizontal field of view and the first ratio, a travel direction of the autonomously motile device;

determine a second ratio of the y-coordinate to a height of the screen;

determine, based at least on the second ratio, a travel distance of the autonomously motile device;

determine a first destination, in a physical space, corresponding to the travel direction and the travel distance; and

cause the autonomously motile device to move to a location in the physical space corresponding to the first destination.

13. The system of claim 12 , wherein the at least one memory further comprises instructions that, when executed by the at least one processor, further cause the system to:

determine a time of capture of image data displayed on the screen at a time of image data of the autonomously motile device corresponding to the input;

determine, a position of the autonomously motile device at the time;

determine, an orientation of a camera of the autonomously motile device at the time;

determine, based on the first destination, the position, and the orientation, a second destination; and

cause the autonomously motile device to move to the second destination.

14. The system of claim 12 , wherein the at least one memory further comprises instructions that determine the travel distance and that, when executed by the at least one processor, further cause the system to:

determine, using a map of the physical space, that a path to the first destination intersects an obstruction; and

at least one of:

shorten the travel distance, or

alter the path.

15. The system of claim 12 , wherein the at least one memory further comprises instructions that determine the travel distance and that, when executed by the at least one processor, further cause the system to:

determine, using the first ratio and the second ratio, a ray extending from a present position of the autonomously motile device; and

determine that the ray intersects with a representation of an obstacle or a representation of a floor in the physical space.

16. The system of claim 15 , wherein the at least one memory further comprises instructions that determine the travel direction and that, when executed by the at least one processor, further cause the system to:

determine a difference between the present position and a position of the autonomously motile device at a time of image data of the autonomously motile device corresponding to the input; and

determine the travel direction by modifying the second ratio based at least in part on the difference.

17. The system of claim 12 , wherein the at least one memory further comprises instructions that determine the travel distance and that, when executed by the at least one processor, further cause the system to:

determine that the travel distance is greater than a first distance, the first distance corresponding to a portion of the physical space proximate to the autonomously motile device and outside a field of view of the camera; and

determine that the travel distance is less than a second distance corresponding to a size of the physical space.

18. The system of claim 17 , wherein the at least one memory further comprises instructions that, when executed by the at least one processor, further cause the system to:

determine a height of the camera with respect to ground;

determine lower limit of a vertical field of view of the camera; and

determine the first distance using the height and the lower limit.

19. The system of claim 12 , wherein the at least one memory further comprises instructions that, when executed by the at least one processor, further cause the system to:

determine, using a two-dimensional map of the physical space, that a path to the first destination intersects a first obstruction; or

determine, using a three-dimensional map of the physical space, that the path to the first destination intersects a second obstruction different from the first obstruction.

20. The system of claim 12 , wherein the at least one memory further comprises instructions that, when executed by the at least one processor, further cause the system to:

send, from the user device to the autonomously motile device, the x-coordinate and y-coordinate,

wherein the instructions that cause the system to determine the first ratio and determine the second ratio are executed by the autonomously motile device.