Patent No. EP2256574 (titled "Autonomous Mobile Robot, Self-Position Estimation Method, Environment Map Generation Method, Environment Map Generating Device, And Environment Map Data Structure") was filed by Toyota Jidosha Kabushiki Kaisha on Jan 26, 2009. The application was issued on Jun 17, 2015.

Patent oppositions filed by competitors challenge the validity of a granted patent. These oppositions are typically based on claims of prior art, lack of novelty, or non-obviousness. They are a key part of the process for determining a patent's strength and enforceability.
| Company | Opposition Date | Representative |
|---|---|---|
| VORWERK & INTERHOLDING | Mar 17, 2016 | HORN |
The dossier documents provide a comprehensive record of the patent's prosecution history - including filings, correspondence, and decisions made by patent offices - and are crucial for understanding the patent's legal journey and any challenges it may have faced during examination.
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