Influencing acceptance of messages in unmanned vehicles

• US 9,663,226 B2
• Filed: 03/27/2015
• Issued: 05/30/2017
• Est. Priority Date: 03/27/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: McClintock, Jon Arron, Canavor, Darren Ernest, Gopalakrishnan, Varadarajan, Johansson, Jesper Mikael, Porter, Brandon William, Roths, Andrew Jay
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US14/671,203
• Publication Number:
  US 20160280370A1
• Time in Patent Office: 795 Days
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• 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 2201/20 Remote controls
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: H04L 63/0823 using certificates cryptographic mechanisms or cryptographic arrangements for entity authentication involving certificates H04L9/3263
• CPC Class Codes: H04W 12/062 Pre-authentication
• CPC Class Codes: H04W 12/069 using certificates or pre-shared keys

Abstract

An unmanned vehicle receives a message from another unmanned vehicle. The recipient unmanned vehicle uses information included with the message to determine whether a quorum of other unmanned vehicles have vetted information in the message. If a quorum of unmanned vehicles have vetted the message, the unmanned vehicle uses the information in the message to determine how to perform one or more operations.

Claims

1. An unmanned aerial vehicle, comprising:

a propulsion subsystem configured to propel the unmanned aerial vehicle between locations;

a transceiver configured to receive and transmit messages; and

an on-board computer system including;

one or more processors; and

memory that stores;

a first set of messages received from other unmanned aerial vehicles via the transceiver;

a set of tasks to be completed by the unmanned aerial vehicle; and

instructions that, when executed by the one or more processors, cause the on-board computer system to;

receive, over the transceiver and from another unmanned aerial vehicle, a message and a plurality of digital signatures associated with the message;

determine, based at least in part on the plurality of digital signatures, a confidence level for the message;

determine, based at least in part on the determined confidence level, whether to accept the message; and

if determined to accept the message, modify the set of tasks in accordance with the message.

2. The unmanned aerial vehicle of claim 1, wherein the instructions that cause the on-board computer system to determine the confidence level, when executed by the one or more processors, cause the on-board computer system to determine whether a number of digital signature of the plurality of digital signatures forming a digital signature chain meets a minimum number for acceptance of the message, the digital signature chain comprising a subset of the plurality of digital signatures where each digital signature of the subset of the plurality of digital signatures is generated based at least in part on at least one other digital signature.

3. The unmanned aerial vehicle of claim 1, wherein the instructions that cause the on-board computer system to determine whether to accept the message, when executed by the one or more processors, cause the computer system to determine, based at least in part on a type of the message, a requisite confidence level and determine whether the determined confidence level at least meets the requisite confidence level.

4. The unmanned aerial vehicle method of claim 1, wherein the instructions further comprise instructions that, when executed by the one or more processors, cause the on-board computer system to:

receive, over the transceiver and from the other unmanned aerial vehicle, a second message;

determine, based at least in part on data available to the unmanned aerial vehicle, whether to confirm the second message;

if determined to confirm the second message, generate a digital signature for the second message; and

transmit at least the second message and the generated digital signature to a second unmanned aerial vehicle that is different from the other unmanned aerial vehicle.

5. A computer-implemented method, comprising:

under the control of a computer system of an unmanned vehicle,

receiving, from another unmanned vehicle, a message and a plurality of digital signatures associated with the message;

determining, based at least in part on at least a subset of the plurality of digital signatures, that a quorum of unmanned aerial vehicles has vetted the message; and

updating an operational plan for the unmanned vehicle in accordance with the message as a result of the quorum of unmanned vehicles having vetted the message.

6. The computer-implemented method of claim 5, further comprising determining the quorum based at least in part on a type of the message.

7. The computer-implemented method of claim 5, wherein updating the operational plan comprises modifying, based at least in part on information in the message, a task to be performed by the unmanned vehicle.

8. The computer-implemented method of claim 5, further comprising:

receiving a second message from a second unmanned vehicle;

determining that the quorum of unmanned vehicles have yet to vet the message;

transmitting at least one request to confirm the second message;

receiving at least one response to the request;

determining, based at least in part on the received at least one response, that the quorum of unmanned vehicles has vetted the second message; and

updating the operational plan in accordance with the second message.

9. The computer-implemented method of claim 5, further comprising:

generating a digital signature for the message; and

transmitting the message, the plurality of digital signatures, and the generated digital signature to a second unmanned vehicle different from the other unmanned vehicle.

10. The computer-implemented method of claim 5, wherein:

the method further comprises determining, based at least in part on data collected from a set of sensors of the unmanned vehicle, to vet the message; and

generating the digital signature is contingent on said determining to vet the message.

11. The computer-implemented method of claim 5, wherein the quorum is a minimum number of unmanned vehicles.

12. The computer-implemented method of claim 5, wherein the unmanned vehicle and the other unmanned vehicle are unmanned aerial vehicles.

13. A non-transitory computer-readable storage medium having stored thereon executable instructions that, when executed by one or more processors of a computer system of an unmanned vehicle, cause the computer system to at least:

receive a message from another unmanned vehicle and a set of digital signatures associated with the message;

determine, based at least in part on the set of digital signatures, whether a set of unmanned vehicles that vetted the message satisfies a set of quorum rules;

if determined that set of quorum rules is unsatisfied, transmit at least one request for vetting of the message; and

process the message in accordance with one or more responses to the at least one request.

14. The non-transitory computer-readable storage medium of claim 13, wherein the instructions that cause the computer system to process the message, when executed by the one or more processors, cause the computer system to modify an operational plan of the unmanned vehicle if the one or more responses vet the message.

15. The non-transitory computer-readable storage medium of claim 13, wherein the instructions that cause the computer system to process the message, when executed by the one or more processors, cause the computer system to leave an operational plan at least temporarily unmodified if a response to the at least one request fails to vet the message.

16. The non-transitory computer-readable storage medium of claim 13, wherein:

the instructions further comprise instructions that, when executed by the one or more processors, cause the computer system to use a digital certificate of an unmanned vehicle specified as having generated the message to verify authenticity of the message; and

the instructions that cause the computer system to transmit the at least one request are configured to be executed as a result of an inability to verify authenticity of the message using the digital certificate.

17. The non-transitory computer-readable storage medium of claim 13, wherein the instructions further comprise instructions that, when executed by the one or more processors, cause the computer system to:

use locally collected data to determine whether to vet the message; and

if determined to vet the message, generate a digital signature for the message and transmit the message and the digital signature for the message to a second unmanned vehicle different from the other unmanned vehicle.

18. The non-transitory computer-readable storage medium of claim 13, wherein instructions that cause the computer system to determine whether the set of unmanned vehicles that vetted the message satisfies the set of quorum rules, when executed by the one or more processors, cause the computer system to, for each digital signature of at least a subset of the set of digital signatures:

use a digital certificate corresponding to the digital signature and an identifier of the message to generate a reference digital signature; and

verify whether the generated reference digital signature matches the digital signature.

19. The non-transitory computer-readable storage medium of claim 13, wherein the instructions that cause the computer system to process the message, when executed by the one or more processors, cause the computer system to modify a route to be travelled by the unmanned vehicle if the quorum rules are satisfied.

20. The non-transitory computer-readable storage medium of claim 13, wherein the instructions further comprise instructions that, when executed by the one or more processors, cause the computer system to select the set of quorum rules based at least in part on a type of the received message.