Methods and systems for area search using a plurality of unmanned vehicles

• US 20060085106A1
• Filed: 02/07/2005
• Published: 04/20/2006
• Est. Priority Date: 02/06/2004
• Status: Active Grant

• Current Assignee: Telepathy Labs, Inc.
• Original Assignee: Icosystem Corp.
• Inventors: Gaudiano, Paolo, Bonabeau, Eric, Shargel, Benjamin
• Granted Patent: US 8,086,351 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

Disclosed are methods and systems that include a method for controlling movement of a first unmanned vehicle (UV) to search an area, where the method includes generating a first trace associated with prior positions in which the first UV has been located, determining a direction in which the first UV is to move using the first generated trace, and causing the first UV to move in the determined direction. The trace may be a numerical value that decreases as a function of the time that has elapsed since the first trace was generated. The methods and systems may also include receiving data relating to a second trace, and using that second trace to determine the direction. The second trace may be generated by a second UV. The second trace may be associated with a position within a predetermined radius from a position associated with the first UV.

Claims

1. A method for controlling movement of a first unmanned vehicle (UV) to search an area, the method comprising:

generating a first trace associated with prior positions in which the first UV has been located;

determining a direction in which the first UV is to move using said first generated trace; and

causing the first UV to move in the determined direction.

2. The method of claim 1, wherein determining the direction comprises establishing a new position toward which the first UV is to move, and wherein causing the first UV to move comprises causing the first UV to move toward the new position.

3. The method of claim 1, further comprising receiving data relating to a second trace, and wherein determining the direction further comprises using said second trace.

4. The method of claim 3, wherein the second trace is generated by a second UV.

5. The method of claim 3, wherein the second trace is associated with a position within a predetermined radius from a position associated with the first UV.

6. The method of claim 1, wherein said first trace further includes information regarding at least one of:

spatial coordinates of the first UV, time at which the first trace was generated, and identity of the first UV.

7. The method of claim 1, wherein said first trace represents conditions at the associated prior positions.

8. The method of claim 7, wherein the conditions at said associated prior positions include at least one of:

detected threats, and detected targets.

9. The method of claim 1, further comprising generating an additional trace associated with additional positions, said additional trace indicating that the additional positions have been searched.

10. The method of claim 1, wherein said first trace is a time-varying digital signal.

11. The method of claim 10, wherein the digital signal comprises a numerical value that decreases as a function of the time that has elapsed since the first trace was generated.

12. The method of claim 1, wherein determining the direction comprises identifying an unsearched position that is not associated with any trace.

13. The method of claim 1, wherein determining the direction comprises identifying a position associated with one or more traces which indicate that that position was not searched by a UV for a pre-determined period of time.

14. The method of claim 1 further comprising transmitting the generated first trace to a central operator.

15. The method of claim 3, wherein the data relating to the second trace is received from a central operator.

16. The method of claim 1, wherein determining the direction is further based on a decentralized control strategy.

17. The method of claim 16, wherein the decentralized control strategy includes at least one of:

baseline strategy, random strategy, repulsion strategy, and global strategy.

18. The method of claim 1, further comprising at least one of:

attacking a target found in the search, tracking the target, and assessing the condition of the target.

19. The method of claim 1, wherein determining the direction is further based on responding to a request from a second UV to join that UV.

20. The method of claim 1, wherein the UV is an airborne vehicle and includes at least one of:

a) propulsion mechanism having independent pitch and yaw control that enables the UV to move in the area at variable speed;

b) a detector to detect targets;

c) a positioning device to determine a spatial position of the UV;

d) a communications module for transmitting information associated with the generated trace, and for receiving data corresponding to traces generated by at least one other UV; and

e) a processor unit to determine the direction of the UV.

21. A method for controlling movement of a plurality of unmanned vehicles (UVs) to search an area, the method comprising:

generating traces associated with at least some of the UVs, each of the traces associated with prior positions at which the corresponding UV has been located;

transmitting to at least some of the UVs data associated with at least some of the generated traces associated with other UVs;

for at least some of the UVs, determining a direction in which that UV is to move using at least some of the transmitted data and the trace associated with that UV, and

for at least some of the UVs, causing that UV to move in the corresponding determined direction.

22. The method of claim 21 further comprising:

receiving at a central operator the traces associated with at least some of the UVs, and

transmitting from the central operator to at least some of the UVs data associated with the received traces.

23. The method of claim 21, wherein at least one of said traces further includes information regarding at least one of:

spatial coordinates of the corresponding UV, time at which said trace was generated, and identity of the corresponding UV.

24. The method of claim 21, wherein at least one of said traces represents conditions at the associated prior positions.

25. The method of claim 24, wherein the conditions at said associated prior positions include at least one of:

detected threats, and detected targets.

26. The method of claim 21, wherein each of said traces is a time-varying digital signal.

27. The method of claim 26, wherein the digital signal comprises a numerical value that decreases as a function of the time that has elapsed since the corresponding trace was generated.

28. The method of claim 21, wherein determining the direction comprises identifying an unsearched position that is not associated with any trace.

29. The method of claim 21, wherein determining the direction comprises identifying a position associated with one or more traces which indicate that that position was not searched by a UV for a pre-determined period of time.

30. A system for controlling movement of a first unmanned vehicle (UV) to search an area, the system comprising:

a trace generator for generating a first trace associated with prior positions in which the first UV has been located; and

a navigation module for determining a direction in which the first UV is to move using said first generated trace, and for causing the first UV to move in the determined direction.

31. The system of claim 30, wherein determining the direction comprises establishing a new position toward which the first UV is to move, and wherein causing the first UV to move comprises causing the first UV to move toward the new position.

32. The system of claim 30, further comprising:

a communications receiver for receiving data relating to a second trace,

wherein determining the direction further comprises using said second trace.

33. The system of claim 32, wherein the second trace is generated by a second UV.

34. The system of claim 32, wherein the second trace is associated with a position within a predetermined radius from a position associated with the first UV.

35. The system of claim 30, wherein said trace generator further generates an additional trace associated with additional positions, said additional trace indicating that the additional positions have been searched.

36. The system of claim 30, wherein said first trace is a time-varying digital signal.

37. The system of claim 36, wherein the digital signal comprises a numerical value that decreases as a function of the time that has elapsed since the first trace was generated.

38. The system of claim 30, wherein determining the direction comprises identifying an unsearched position that is not associated with any trace.

39. A system for searching an area, the system comprising:

a plurality of unmanned vehicles (UVs), wherein each of at least some of plurality of UVs comprises;

a trace generator for generating a trace associated with the corresponding UV, the trace associated with prior positions at which that corresponding UV has been located;

a communications transmitter/receiver for transmitting to at least some of the plurality of UVs data associated with the generated trace associated with that UV and receiving data associated with at least some of the generated traces associated with at least some of the plurality of other UVs; and

a navigation module for determining a direction in which the corresponding UV is to move using at least some of the received data and the trace associated with that UV, and for causing that UV to move in the corresponding determined direction.

40. The system of claim 39, further comprising:

a central operator that receives traces associated with at least some of the plurality of UVs, and transmits to at least some of the plurality of UVs information associated with at least some of the received traces.

41. The system of claim 39, wherein at least one of said traces further includes information regarding at least one of:

spatial coordinates of the corresponding UV, time at which said trace was generated, and identity of the corresponding UV.

42. The system of claim 39, wherein at least one of said traces represents conditions at the associated prior positions.

43. The system of claim 42, wherein the conditions at said associated prior positions include at least one of:

detected threats, and detected targets.

44. The system of claim 39, wherein each of said traces is a time-varying digital signal.

45. The system of claim 44, wherein the digital signal comprises a numerical value that decreases as a function of the time that has elapsed since the corresponding trace was generated.

46. The system of claim 39, wherein determining the direction comprises identifying an unsearched position that is not associated with any trace.

47. The system of claim 39, wherein determining the direction comprises identifying a position associated with one or more traces which indicate that that position was not searched by a UV for a pre-determined period of time.