Base station multi-vehicle coordination

• US 9,540,102 B2
• Filed: 03/13/2013
• Issued: 01/10/2017
• Est. Priority Date: 12/19/2012
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Levien, Royce A., Lord, Robert W., Lord, Richard T., Malamud, Mark A., Rinaldo, John D. Jr., Wood, Lowell L. Jr.
• Primary Examiner(s): ANTONUCCI, ANNE MARIE
• Application Number:
  US13/800,391
• Publication Number:
  US 20140172194A1
• Time in Patent Office: 1,399 Days
• Field of Search: 701/2
• US Class Current: 1/1
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/102 adapted for flying in formations
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 80/30 with arrangements for data transmission
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0091 for monitoring atmospheric conditions radar or analogous systems specially adapted for meteorological use G01S13/95; meteorology G01W

Abstract

Disclosed herein are example embodiments for base station multi-vehicle coordination. For certain example embodiments, at least one machine, such as a base station, may: (i) effectuate one or more communications with at least a first UFV and a second UFV; or (ii) transmit to a first UFV at least one command based at least partially on one or more communications with at least a first UFV and a second UFV. However, claimed subject matter is not limited to any particular described embodiments, implementations, examples, or so forth.

Claims

1. A base station comprising:

at least one electronic device including at least;

circuitry configured for effectuating one or more communications with at least a first unoccupied flying vehicle (UFV) and a second UFV;

circuitry configured for receiving at least one message from at least the second UFV, the at least one message including at least a notification indicative that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance;

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification; and

circuitry configured for transmitting to the first UFV the at least one command.

2. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving from the second UFV at least one indication of at least one hazard discovered by the second UFV.

3. The base station of claim 2, wherein the circuitry configured for receiving from the second UFV at least one indication of at least one hazard discovered by the second UFV comprises:

at least one of;

circuitry configured for receiving from the second UFV at least one code representative of the at least one hazard discovered by the second UFV;

circuitry configured for receiving from the second UFV a location of at least one object that is detected by the second UFV;

or

circuitry configured for receiving from the second UFV at least one message including at least one atmospheric harbinger indicative of one or more weather elements that are detected by the second UFV.

4. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

at least one of;

circuitry configured for receiving from the second UFV at least one indication of at least one status of the second UFV;

circuitry configured for receiving from the second UFV at least one indication of at least one heading of the second UFV;

circuitry configured for receiving from the second UFV at least one indication of a fuel level associated with the second UFV;

circuitry configured for receiving from the second UFV at least one indication of at least one mission status associated with the second UFV;

or

circuitry configured for receiving from the second UFV at least one indication of at least one estimated delay for a mission associated with the second UFV.

5. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving from the second UFV at least one indication of at least one status of a third UFV.

6. The base station of claim 1, wherein the circuitry configured for transmitting to the first UFV the at least one command comprises:

circuitry configured for transmitting to the first UFV at least one flight control command.

7. The base station of claim 6, wherein the circuitry configured for transmitting to the first UFV at least one flight control command comprises:

at least one of;

circuitry configured for transmitting to the first UFV the at least one flight control command to instruct the first UFV to adjust at least one flight path;

or

circuitry configured for transmitting to the first UFV the at least one flight control command responsive at least partially to at least one indication of at least one flight path of the second UFV.

8. The base station of claim 1, wherein the circuitry configured for transmitting to the first UFV the at least one command comprises:

circuitry configured for transmitting to the first UFV the at least one command to update at least one mission associated with the first UFV.

9. The base station of claim 8, wherein the circuitry configured for transmitting to the first UFV the at least one command to update at least one mission associated with the first UFV comprises:

circuitry configured for transmitting to the first UFV the at least one command to utilize one or more identified sensors of the first UFV as part of at least one mission associated with the first UFV.

10. The base station of claim 1, wherein the circuitry configured for transmitting to the first UFV the at least one command comprises:

circuitry configured for transmitting to the first UFV the at least one command via routing the at least one command through at least a third UFV.

11. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including analyzing a notification of at least one condition indicative of a determination by the at least one second UFV of attainment of at least one mission objective included in the at least one message, determining at least one mission modification to join the second UFV in a new mission based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification.

12. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including analyzing a notification of at least one condition indicative of a determination by the at least one second UFV of a condition of the second UFV which would benefit from assistance included in the at least one message, determining at least one mission modification to assist the second UFV in at least one mission based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification.

13. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including analyzing a notification of at least one condition indicative of a determination by the at least one second UFV of a condition indicative of at least one assistance status for the second UFV included in the at least one message, determining at least one mission modification to assist the second UFV in at least one mission based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification.

14. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification of the at least one condition indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including analyzing a notification of at least one condition indicative of a determination by the at least one second UFV indicative of at least a partial mission failure included in the at least one message, determining at least one mission modification to update at least one mission based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification.

15. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification of the at least one condition indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including analyzing a notification of at least one condition indicative of a determination by the at least one second UFV indicative of confirmed clearance for at least a portion of at least one joint mission associated with the first UFV and the second UFV included in the at least one message, determining at least one mission modification to update at least one mission based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification.

16. The base station of claim 1, further comprising:

circuitry configured for transmitting to the first UFV at least one update command to update instruction code on the first UFV.

17. The base station of claim 16, wherein the circuitry configured for transmitting to the first UFV at least one update command to update instruction code on the first UFV comprises:

circuitry configured for wirelessly transmitting to the first UFV the at least one update command to update the instruction code on the first UFV while the first UFV is airborne.

18. The base station of claim 16, wherein the circuitry configured for transmitting to the first UFV at least one update command to update instruction code on the first UFV comprises:

circuitry configured for transmitting to the first UFV at least one dissemination command to order the first UFV to send instruction code to at least one other UFV during flight deployment.

19. The base station of claim 1, further comprising:

circuitry configured for transmitting to the first UFV at least one update command to update at least one security protocol of the first UFV.

20. The base station of claim 19, wherein the circuitry configured for transmitting to the first UFV at least one update command to update at least one security protocol of the first UFV comprises:

circuitry configured for transmitting to the first UFV at least one malware indicator to be included in at least one updated security protocol of the first UFV.

21. The base station of claim 19, wherein the circuitry configured for transmitting to the first UFV at least one update command to update at least one security protocol of the first UFV comprises:

circuitry configured for transmitting to the first UFV at least one dissemination indicator to inform the first UFV to share the at least one security protocol with one or more other UFVs during flight.

22. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

at least one of;

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including analyzing a notification indicative of a determination by the at least one second UFV of a code specifying at least an instruction to return and a location of the base included in the at least one message, determining at least one mission modification to return to a base based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification;

or

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing a notification indicative of at least partial mission success included in the at least one message. determining at least one order for the first UFV to undertake at least one new mission based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one order for the first UFV to undertake at least one new mission.

23. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing a notification indicative of at least partial mission success included in the at least one message, determining at least one order for the first UFV to undertake at least one new mission based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one order for the first UFV to undertake at least one new mission.

24. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing a notification of at least one situation in which mission success may be jeopardized included in the at least one message, determining at least one order for the first UFV to formulate at least one alternative mission objective based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one order for the first UFV to formulate at least one alternative mission objective.

25. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing at least one notification of a condition in which the second UFV can benefit from assistance included in the at least one message, determining at least one order for the first UFV to refuel based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one order for the first UFV to refuel.

26. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing at least one notification that at least a portion of the mission is in a failure condition included in the at least one message, determining at least one order for the first UFV to update at least one mission objective based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one order for the first UFV to update at least one mission objective.

27. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing at least one notification indicative of a determination by the at least one second UFV of an inability to carry out at least a portion of a mission included in the at least one message, determining at least one order for the first UFV to adjust at least one flight plan based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one order for the first UFV to adjust at least one flight plan.

28. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing at least one notification indicative of a determination by the at least one second UFV of an inability to carry out the at least a portion of at least one mission included in the at least one message, determining at least one order for the first UFV to undertake at least a portion of at least one mission previously assigned to the second UFV based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one order for the first UFV to undertake at least a portion of at least one mission previously assigned to the second UFV.

29. The base station of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification further comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing at least one notification indicative of a determination by the at least one second UFV of an inability to carry out at least a portion of at least one mission according to a predetermined schedule included in the at least one message, determining at least one order for the first UFV to undertake at least a portion of at least one mission previously assigned to the second UFV based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one order for the first UFV to undertake at least a portion of at least one mission previously assigned to the second UFV.

30. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving at least one message from at least the second UFV which autonomously detects at least one condition indicative of at least one inability to accomplish at least one portion of at least one mission without assistance, formulates at least one notification configured to inform the base station of the at least one condition for inclusion in the at least one message, and transmits the at least one message to the base station upon detection that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance.

31. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving at least one message from at least the second UFV which autonomously detects at least one condition indicative of at least one inability to accomplish at least one portion of at least one mission without assistance, formulates at least one notification configured to identify the at least one condition from among two or more conditions for inclusion in the at least one message, and transmits the at least one message to the base station upon detection that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance.

32. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving at least one message from at least the second UFV which autonomously detects at least one condition indicative of the second UFV lacking at least one resource to complete at least one portion of at least one mission, formulates at least one notification configured to identify the at least one condition indicative of the second UFV lacking at least one resource to complete at least one portion of at least one mission for inclusion in the at least one message, and transmits the at least one message to the base station upon detection of the at least one condition indicative of the second UFV lacking at least one resource to complete at least one portion of at least one mission.

33. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving at least one message from at least the second UFV which autonomously detects at least one condition indicative of a state of partial incapacity of the second UFV, formulates at least one notification configured to identify the at least one condition indicative of a state of partial incapacity of the second UFV for inclusion in the at least one message, and transmits the at least one message to the base station upon detection of the at least one condition indicative of a state of partial incapacity of the second UFV.

34. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving at least one message from at least the second UFV which autonomously detects at least one condition indicative of the second UFV lacking sufficient fuel to reach at least one destination, formulates at least one notification configured to identify the at least one condition indicative of the second UFV lacking sufficient fuel to reach at least one destination for inclusion in the at least one message, and transmits the at least one message to the base station upon detection of the at least one condition indicative of the second UFV lacking sufficient fuel to reach at least one destination.

35. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving at least one message from at least the second UFV which autonomously detects at least one condition indicative of non-completion of at least one mission task by the second UFV, formulates at least one notification configured to identify the at least one condition indicative of non-completion of at least one mission task by the second UFV for inclusion in the at least one message, and transmits the at least one message to the base station upon detection of the at least one condition indicative of non-completion of at least one mission task by the second UFV.

36. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving at least one message from at least the second UFV which autonomously detects at least one condition indicative of at least one determination by the second UFV that an intermediate state of at least a portion of at least one mission has not been completed by a specified deadline, formulates at least one notification configured to identify the at least one condition indicative of at least one determination by the second UFV that an intermediate state of at least a portion of at least one mission has not been completed by a specified deadline for inclusion in the at least one message, and transmits the at least one message to the base station upon detection of the at least one condition indicative of at least one determination by the second UFV that an intermediate state of at least a portion of at least one mission has not been completed by a specified deadline.

37. The base station of claim 1, wherein the circuitry configured for receiving at least one message from at least the second UFV comprises:

circuitry configured for receiving at least one message from at least the second UFV which autonomously detects at least one condition indicative of at least one determination by the second UFV that interference is hampering sensor readings, formulates at least one notification configured to identify the at least one condition indicative of at least one determination by the second UFV that interference is hampering sensor readings for inclusion in the at least one message, and transmits the at least one message to the base station upon detection of the at least one condition indicative of at least one determination by the second UFV that interference is hampering sensor readings.

38. The unoccupied flying vehicle (UFV) of claim 1, wherein the circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV comprises:

circuitry configured for automated formulating of at least one command directing one or more flight control decisions of the first UFV based at least partially on the analysis of at least one mission objective including one or more of an assigned goal, a target to scan with one or more sensors, a payload to acquire or deliver, a tasked accomplishment, a deadline to meet, a destination to reach, an enumerated set of steps to follow, or a procedure to complete.

39. A method comprising:

effectuating one or more communications with at least a first unoccupied flying vehicle (UFV) and a second UFV;

receiving at least one message from at least the second UFV, the at least one message including at least a notification indicative that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance;

automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification; and

transmitting to the first UFV at least one command,

wherein at least one of the effectuating, receiving, formulating, or the transmitting is at least partially implemented using one or more machines.

40. A system comprising:

means for effectuating one or more communications with at least first unoccupied flying vehicle (UFV) and a second UFV;

means for receiving at least one message from at least the second UFV, the at least one message including at least a notification indicative that the second UFV has autonomously determined an inability to accomplish at least one portion of at least one mission without assistance;

means for automated formulating of at least one command directing one or more flight control decisions of the first UFV including at least analyzing the notification indicative of the least one inability to accomplish at least one portion of at least one mission without assistance included in the at least one message, determining at least one mission modification based at least partially on the analysis, and formulating the at least one command based at least partially on the at least one mission modification; and

means for transmitting to the first UFV at least one command,

wherein at least one of the means for effectuating, the means for receiving, the means for formulating, or the means for transmitting is at least partially implemented using one or more machines.