Disperse, aggregate and disperse (DAD) control strategy for multiple autonomous systems to optimize random search
First Claim
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1. A method for searching an area for targets by a vehicle in conjunction with a plurality of other vehicles comprising the steps of:
- dispersing by turning said vehicle in a random direction to establish a current heading and moving said vehicle at a current speed for a random distance;
detecting targets using sensors on said vehicle during said vehicle dispersing step to establish a number of detected targets;
aggregating by turning said vehicle in another random direction to establish another heading and moving said vehicle a random distance at a current speed;
detecting targets using sensors on said vehicle during said aggregating step;
detecting other vehicles using sensors on said vehicle during said aggregating step;
responding in a predesignated way to the detection of said other vehicle and continuing said movement during said aggregating step if one of said plurality of other vehicles is not detected; and
repeating said dispersing and aggregating steps.
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Abstract
A method for conducting a search of an area for targets by a number of vehicles. First each of the vehicles randomly disperses from the other vehicles. Then during an aggregate phase, each vehicle responds in a predesignated way to an encounter with one of the other vehicles. A number of specific search strategies may be followed which tend to direct the search in a particular designated direction or allow a successful searching vehicle to set the direction of the search. This method results in improved performance in conducting searches by robots or other vehicles.
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Citations
19 Claims
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1. A method for searching an area for targets by a vehicle in conjunction with a plurality of other vehicles comprising the steps of:
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dispersing by turning said vehicle in a random direction to establish a current heading and moving said vehicle at a current speed for a random distance; detecting targets using sensors on said vehicle during said vehicle dispersing step to establish a number of detected targets; aggregating by turning said vehicle in another random direction to establish another heading and moving said vehicle a random distance at a current speed; detecting targets using sensors on said vehicle during said aggregating step; detecting other vehicles using sensors on said vehicle during said aggregating step; responding in a predesignated way to the detection of said other vehicle and continuing said movement during said aggregating step if one of said plurality of other vehicles is not detected; and repeating said dispersing and aggregating steps. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification