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

• US 8,086,351 B2
• Filed: 02/07/2005
• Issued: 12/27/2011
• Est. Priority Date: 02/06/2004
• Status: Active Grant

• Current Assignee: Telepathy Labs, Inc.
• Original Assignee: Icosystem Corp.
• Inventors: Gaudiano, Paolo, Shargel, Benjamin, Bonabeau, Eric
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Amin, Bhavesh V
• Application Number:
  US11/052,386
• Publication Number:
  US 20060085106A1
• Time in Patent Office: 2,514 Days
• Field of Search: 701/23, 701/2, 701/3, 701/11, 701/209, 701/210, 701/300, 701/24, 701/25, 701/26, 701/202, 244/76.R, 244/175
• US Class Current: 700/253
• 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 at prior times;

changing with time a digital signal associated with said first trace;

receiving data relating to at least one additional UV, wherein for each additional UV the data comprises an additional trace generated by said UV associated with prior positions in which said additional UV has been located at prior times, and an identity of said additional UV;

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

causing the first UV to move in the determined direction; and

conducting at least one search,

wherein no UV is in a master/slave relationship to another UV in determining the direction; and

wherein the digital signal comprises a numerical value associated with a prior position in which the first UV has been located at a prior time, and wherein that value is reduced as a function of a time that has elapsed since the first UV has been located at said prior position.

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 detecting conditions associated with prior positions in which the first UV has been located at prior times, and wherein said first trace represents said detected conditions at the associated prior positions.

4. The method of claim 3, wherein the detected conditions at said associated prior positions include at least one of:

detected threats, and detected targets.

5. The method of claim 1, further comprising generating an additional trace associated with additional positions in which the first UV has been located, said additional trace indicating that the additional positions have been searched.

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

7. The method of claim 1, wherein the data relating to the at least one additional trace is received from a central operator.

8. The method of claim 1, further comprising detecting a target in the search, and at least one of:

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

9. 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.

10. 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 at prior times;

receiving data relating to at least one additional UV, wherein for each additional UV the data comprises an additional trace generated by said UV associated with prior positions in which said additional UV has been located at prior times, and an identity of said additional UV;

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

causing the first UV to move in the determined direction; and

conducting at least one search,

wherein no UV is in a master/slave relationship to another UV in determining the direction;

wherein determining the direction is further based on a decentralized control strategy; and

wherein the decentralized control strategy includes at least one of;

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

11. The method of claim 10, wherein determining the direction comprises identifying a position that is not associated with any trace.

12. The method of claim 10, wherein determining the direction comprises identifying a position, and, for each trace associated with that position, comparing a current time with a time at which the trace was generated in association with that position to determine that that position has not been searched by a UV for a pre-determined period of time.

13. The method of claim 10, wherein the decentralized control strategy is a baseline strategy.

14. The method of claim 10, wherein the decentralized control strategy is a random strategy.

15. The method of claim 10, wherein the decentralized control strategy is a repulsion strategy.

16. The method of claim 10, wherein the decentralized control strategy is a global strategy.

17. A method for controlling movement of a subject unmanned vehicle (UV) which is among a plurality of unmanned vehicles (UVs) to search an area, the method comprising:

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

changing with time digital signals associated with each of said traces;

receiving at the subject UV data associated with at least some of the generated traces associated with the plurality of UVs;

determining a direction in which the subject UV is to move using at least some of the received data and the trace associated with the subject UV, and

causing the subject UV to move in the determined direction;

wherein no UV is in a master/slave relationship to another UV in determining the direction, and

wherein each digital signal comprises a numerical value associated with a prior position in which a UV has been located at a prior time, that is reduced as a function of a time that has elapsed since the said UV has been located at said prior position.

18. The method of claim 17 further comprising:

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

transmitting from the central operator to the subject UV data associated with the received traces.

19. The method of claim 17, further comprising detecting conditions associated with prior positions in which at least one of the plurality of UVs has been located at prior times, and wherein at least one of said traces represents said detected conditions at the associated prior positions.

20. The method of claim 19, wherein the detected conditions at said associated prior positions include at least one of:

detected threats, and detected targets.

21. The method of claim 17, wherein determining the direction comprises identifying a position that is not associated with any trace.

22. The method of claim 17, wherein determining the direction comprises identifying a position and, for each trace associated with that position, comparing a current time with a time at which said trace was generated in association with that position to determine that that position has not been searched by a UV for a pre-determined period of time.

23. 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 at prior times;

a processor for changing with time a digital signal associated with said first trace;

a communications receiver for receiving data relating to at least one additional UV, wherein for each additional UV the data comprises an additional trace generated by said UV associated with prior positions in which said additional UV has been located at prior times, and an identity of said additional UV,

a search module for conducting at least one search;

a navigation module for determining a direction in which the first UV is to move using said first generated trace and at least one said additional trace; and

a propulsion module for causing the first UV to move in the determined direction;

wherein no UV is in a master/slave relationship to another UV in determining the direction; and

wherein the digital signal comprises a numerical value associated with a prior position in which the first UV has been located at a prior time, and wherein that value is reduced as a function of a time that has elapsed since the first UV has been located at said prior position.

24. The system of claim 23, 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.

25. The system of claim 23, wherein said trace generator further is for generating an additional trace associated with additional positions in which the first UV has been located, said additional trace indicating that the additional positions have been searched.

26. The system of claim 23, wherein determining the direction comprises identifying a position that is not associated with any trace.

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

a plurality of unmanned vehicles (UVs), wherein each of said plurality of UVs comprises;

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

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

at least one processor for changing with time digital signals associated with each of said traces;

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

a propulsion module for causing said UV to move in the determined direction;

wherein no UV is in a master/slave relationship to another UV in determining the direction; and

wherein the digital signal comprises a numerical value associated with a prior position in which an UV has been located at a prior time, that is reduced as a function of a time that has elapsed since the said UV has been located at said prior position.

28. The system of claim 27, further comprising:

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

29. The system of claim 27, wherein at least some of said plurality of UVs further comprise a sensor for detecting conditions associated with positions at which said UV has been located at prior times, and wherein at least one of said traces represents said detected conditions at the associated prior positions.

30. The system of claim 29, wherein the detected conditions at said associated prior positions include at least one of:

detected threats, and detected targets.

31. The system of claim 27, wherein determining the direction comprises identifying a position that is not associated with any trace.

32. The system of claim 27, wherein determining the direction comprises identifying a position and, for each trace associated with that position, comparing a current time with a time at which said trace was generated in association with that position to determine that that position has not been searched by a UV for a pre-determined period of time.