System, methods and apparatus for leader-follower model of mobile robotic system aggregation

• US 20040030570A1
• Filed: 04/22/2003
• Published: 02/12/2004
• Est. Priority Date: 04/22/2002
• Status: Abandoned Application

• Current Assignee: Solomon Research LLC
• Original Assignee: Solomon Research LLC
• Inventors: Solomon, Neal
• Application Number:
  US10/421,464
• Publication Number:
  US 20040030570A1
• Time in Patent Office: Days
• US Class Current: 705/1
• CPC Class Codes: F41G 3/04 for dispersing fire from a battery ; for controlling spread of shots; for coordinating fire from spaced weapons
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

In a swarm weapon system, groups of mobile robotic vehicles (MRVs) are organized into a leader-follower configuration in which follower drone MRVs supply sensor data to a lead MRV. The lead MRV analyzes data and makes decisions about how the collective of automated robots will behave as a group. The hierarchical control model will centralize processes in order for varied spatial configurations of the network to be made in real time.

Claims

1. A system for managing a leader-follower model in mobile robotic vehicle aggregation, comprising:

a plurality of squads, each squad having a plurality of mobile robotic vehicles (MRVs), each squad further having a squad lead MRV and member MRVs, wherein the squad leader has complex computational analysis and decision-making abilities; and

a plurality of swarm leaders, each swarm leader having command over a plurality of squad lead MRVs.

2. The system of claim 1 wherein the squad lead MRV communicates with its member MRVs using asymmetric inter-MRV negotiation.

3. The system of claim 2 wherein the squad lead MRV assesses squad composition for spatial positioning and specialization composition;

wherein the member MRVs request instructions from the squad lead MRV;

wherein the squad lead MRV makes a decision about the configuration of a tactical attack;

wherein the squad lead MRV provides corresponding instructions to member MRVs contingent on their spatial position and specialization;

wherein the member MRVs receive their corresponding instructions from the squad lead MRV; and

wherein the member MRVs execute their corresponding instructions.

4. The system of claim 1 wherein the squad lead MRV is substituted by a next-in-line member MRV.

5. The system of claim 4 wherein the squad lead MRV is substituted when the squad lead MRV becomes unavailable or when the member MRVs are unable to communicate with the squad lead MRV.

6. The system of claim 5 wherein program code from the squad lead MRV is transferred to the next-in-line member MRV.

7. The system of claim 6 wherein the program code is transferred directly from the squad lead MRV to the next-in-line member MRV.

8. The system of claim 6 wherein the program code is transferred from the squad lead MRV to an external database via a mobile software agent;

and

wherein the mobile software agent transfers the program code to the next-inline member MRV.

9. The system of claim 6 wherein upon receiving the program code, the next-in-line member MRV assumes functions of the squad lead MRV.

10. The system of claim 1 wherein each squad lead MRV has a central database;

wherein the squad lead MRV analyzes sensor data received from the member MRVs using initial program parameters;

wherein the central database contains the sensor data and the analysis results;

wherein the squad lead MRV uses the central database to compute an optimal solution to a problem and construct corresponding instructions to the member MRVs;

wherein the squad lead MRV forwards the corresponding instructions to the member MRVs for execution.

11. The system of claim 10 wherein the central database contains data on movement of each member MRV within the squad, altitude and velocity information and target information.