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Control system for autonomous operation

  • US 9,146,553 B2
  • Filed: 04/30/2010
  • Issued: 09/29/2015
  • Est. Priority Date: 05/01/2009
  • Status: Active Grant
First Claim
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1. A hierarchical control system for supervising operations of an autonomous entity located within a defined geographical region containing a plurality of localised zones having operation-defined geographical boundaries, wherein the control system comprises:

  • a primary controller associated with the defined geographical region, anda plurality of secondary controllers, wherein each one of the plurality of secondary controllers is associated with a respective one of the localised zones having operation-defined geographical boundaries,wherein the primary and secondary controllers are configured in a hierarchy determined by the spatial location of the localized zones in the geographical region, and each of the secondary controllers is responsive to the supervisory control of the primary controller, andwherein upon a transition of the autonomous entity into a given localised zone, the primary controller is configured to transfer the supervisory control over the autonomous entity to the secondary controller that is associated with the given localised zone, such that operation of the autonomous entity, in the given localised zone, is responsive to the supervisory control of the associated secondary controller.

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