Swarm autopilot

• US 10,310,518 B2
• Filed: 09/08/2016
• Issued: 06/04/2019
• Est. Priority Date: 09/09/2015
• Status: Active Grant

• Current Assignee: Apium Inc.
• Original Assignee: Apium Inc.
• Inventors: MacCready, Tyler, Ramakrishnan, Sankaran, Zambrano, Thomas
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US15/260,224
• Publication Number:
  US 20170068243A1
• Time in Patent Office: 999 Days
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• 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: Y10S 901/01 Mobile robot

Abstract

A system and method for generating an artificial topography in a distributed array of robotic agents. Each robotic agent stores, and periodically updates a parameter value or “A-value” in accordance with a process including, e.g., averaging neighboring A-values, received from close neighbor robotic agents, biasing the A-value based on external commands or measured environmental parameters, and decreasing the A-value by a cooling rate factor. Averaging among neighboring robotic agents results eventually in a globally smoothed distribution of A-values. A gradient may be estimated for the distribution of A-values, and the robotic agents may be programmed to move in the direction of the gradient, toward increasing A-values. This behavior may be employed to cause the robotic agents to follow a robotic agent with a fixed, relatively large, A-value, or, if the A-values are biased by features (e.g., gradients or steps) in environmental parameters, to converge on such features.

Claims

1. A method for controlling a plurality of robotic agents, the method comprising:

storing, in each of the robotic agents, a respective first parameter value;

sending, by a first robotic agent of the plurality of robotic agents, the respective first parameter value to each of a plurality of first close neighbor robotic agents of the plurality of robotic agents, each of the first close neighbor robotic agents having a distance, to the first robotic agent, less than a threshold distance,

receiving, by the first robotic agent, a respective first parameter value from each of the first close neighbor robotic agents,

calculating, by the first robotic agent, a new first parameter value, the calculating comprising calculating an average of;

the first parameter value of the first robotic agent; and

the received first parameter values;

updating the first parameter value of the first robotic agent to equal the new first parameter value;

calculating, by the first robotic agent, an estimated gradient of;

the first parameter value of the first robotic agent; and

the received first parameter values;

calculating, by the first robotic agent, a resultant virtual force vector as a sum of one or more vector quantities including the estimated gradient; and

generating, by the first robotic agent, a net thrust force, on the first robotic agent, parallel to the resultant virtual force vector.

2. The method of claim 1, further comprising setting, by a second robotic agent different from the first robotic agent, the respective first parameter value of the second robotic agent to a value received from a central controller.

3. The method of claim 2, further comprising, moving, by the second robotic agent, in a direction along a path received by the second agent from a central controller.

4. The method of claim 1, wherein each of the robotic agents is configured to measure a first value of an environmental parameter.

5. The method of claim 4, wherein the calculating of the first new parameter value further comprises calculating a function of:

the average of;

the first parameter value of the first robotic agent; and

the received first parameter values; and

the first value of the environmental parameter.

6. The method of claim 4, further comprising receiving, by the first robotic agent, a respective value of the environmental parameter from each of the first close neighbor robotic agents, wherein

the calculating of the first new parameter value further comprises calculating a function of:

the average of;

the first parameter value of the first robotic agent; and

the received first parameter values; and

the received values of the environmental parameter.

7. The method of claim 6, wherein the function is a weighted sum of:

the average of;

the first parameter value of the first robotic agent; and

the received first parameter values; and

a magnitude of an estimated gradient in;

the first value of the environmental parameter; and

the received values of the environmental parameter.

8. The method of claim 1, wherein:

the sending of the respective first parameter value comprises transmitting the respective first parameter value by wireless communication, and

the receiving of the respective first parameter values comprises receiving the respective first parameter values by wireless communication.

9. The method of claim 8, wherein the threshold distance is less than or equal to a range of the wireless communication.

10. The method of claim 1, wherein the average is a weighted average.

11. The method of claim 1, wherein the average is a weighted average, each term of the weighted average being weighted in inverse proportion to a distance to a first close neighbor robotic agent, of the plurality of first close neighbor robotic agents, from which the received respective first parameter value was received.

12. The method of claim 1, wherein the calculating of the first new parameter value further comprises multiplying by a cooling rate factor, the cooling rate factor being a number greater than 0.01 and less than 0.99.

13. The method of claim 1, wherein the calculating of the first new parameter value further comprises calculating, for a first close neighbor robotic agent, of the plurality of first close neighbor robotic agents:

a distance between the first robotic agent and the first close neighbor robotic agent;

a virtual force vector corresponding to the first close neighbor robotic agent, the virtual force vector having a magnitude that is a function of the distance between the first robotic agent and the first close neighbor robotic agent, and having a direction along a straight line connecting the first robotic agent and the first close neighbor robotic agent, the virtual force vector corresponding to;

a repulsive force when the distance between the first robotic agent and the first close neighbor robotic agent is less than an equilibrium distance; and

an attractive force when the distance between the first robotic agent and the first close neighbor robotic agent is greater than the equilibrium distance.