SYSTEM AND METHOD FOR MULTIPLE VEHICLES MOVING A COMMON PAYLOAD
First Claim
1. A computing system configured for use in controlling a plurality of vehicles configured to affect positioning of a common payload, the computing system comprising:
- a transceiver configured to receive data about at least one of said common payload and said plurality of vehicles; and
a processor, in communication with said transceiver, configured to compute a path for said common payload towards a desired payload destination, configured to use said path and a current payload state to compute a desired payload state, and configured to use said current payload state and said desired payload state to compute a respective desired state for each one of said plurality of vehicles to move said common payload along said path.
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Abstract
A system and method are provided for controlling a plurality of vehicles to affect positioning of a common payload. The system comprises of multiple vehicles having positioners to change the location of the common payload, where the group of vehicles form a swarm that is controlled by a driver or pilot station. Each vehicle is autonomously stabilized and guided through a swarm electronics unit, which further includes sensor, communication, and processing hardware. At the driver or pilot station, a system or a person remotely enters payload destinations, which is processed and communicated to each vehicle. The method for controlling a multi-vehicle system includes inputting the desired location of the payload and determining a series of intermediary payload waypoints. Next, these payload waypoints are used by the swarm waypoint controller to generate individual waypoints for each vehicle. A controller for each vehicle moves the vehicle to these individual waypoints.
64 Citations
25 Claims
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1. A computing system configured for use in controlling a plurality of vehicles configured to affect positioning of a common payload, the computing system comprising:
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a transceiver configured to receive data about at least one of said common payload and said plurality of vehicles; and a processor, in communication with said transceiver, configured to compute a path for said common payload towards a desired payload destination, configured to use said path and a current payload state to compute a desired payload state, and configured to use said current payload state and said desired payload state to compute a respective desired state for each one of said plurality of vehicles to move said common payload along said path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method performed by a computing device for use in controlling a plurality of vehicles to affect positioning of a common payload, the method comprising:
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computing a path for said common payload towards a desired payload destination; using said path and a current payload state to compute a desired payload state; and using said current payload state and said desired payload state to compute a respective desired state for each one of said plurality of vehicles to move said common payload along said path. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A non-transitory computer readable medium comprising computer executable instructions for use in controlling a plurality of vehicles to affect positioning of a common payload, said computer executable instructions comprising:
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computing a path for said common payload towards a desired payload destination; using said path and a current payload state to compute a desired payload state; and using said current payload state and said desired payload state to compute a respective desired state for each one of said plurality of vehicles to move said common payload along said path.
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Specification