Method and apparatus for controlling the movement of a plurality of agents
First Claim
1. A method for controlling the movement of a plurality of agents wherein each of one of the plurality of agents has at least one other agent locally spaced at a distance therefrom, and wherein each one of the plurality of agents comprises a means for providing mobility, a means for detecting distance and direction to the at least one other locally spaced agent, a processor coupled with the means for providing mobility and the means for detecting distance and direction in order to control the movement of the agent and to process the distances and directions between the agent and the at least one other locally spaced agent, the method comprising the steps of:
- a. determining the distance and direction of each agent from each other agent locally spaced with respect thereto;
b. processing the distances and directions between the agent and each other locally spaced agent; and
c. using a distance-maintenance movement behavior based on the distances and directions between the agent and each other locally spaced agent to maintain a predetermined distance from each other locally spaced agent.
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Accused Products
Abstract
A method for controlling the movement of agents using local communications is provided. Generally, each agent maintains an optimal distance from other local neighbor agents by, for each agent 200, selecting a local agent 202, measuring the distance and angle to the agent 204, performing a distance maintenance calculation 218, and repeating the distance maintenance calculation 218 for each local agent. In the distance maintenance calculation 218, an attraction/repulsion map is used in order to determine whether an agent is attracted to or repelled from other agents. A motion vector is used to determine agent responses to the attraction or repulsion. Over time, the agents settle into a neutral configuration where each is optimally distanced from the other agents. Reference agents and leader agents can be designated to direct the movement of other agents, and agents can be designated as blocking beacons to repel other agents from undesirable areas.
11 Citations
48 Claims
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1. A method for controlling the movement of a plurality of agents wherein each of one of the plurality of agents has at least one other agent locally spaced at a distance therefrom, and wherein each one of the plurality of agents comprises a means for providing mobility, a means for detecting distance and direction to the at least one other locally spaced agent, a processor coupled with the means for providing mobility and the means for detecting distance and direction in order to control the movement of the agent and to process the distances and directions between the agent and the at least one other locally spaced agent, the method comprising the steps of:
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a. determining the distance and direction of each agent from each other agent locally spaced with respect thereto;
b. processing the distances and directions between the agent and each other locally spaced agent; and
c. using a distance-maintenance movement behavior based on the distances and directions between the agent and each other locally spaced agent to maintain a predetermined distance from each other locally spaced agent. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 47, 48)
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17. A plurality of controlled-movement agents comprising a plurality of agents, each having at least one other agent locally spaced at a distance therefrom, each one of the plurality of agents including a means for providing mobility, a means for detecting distance and direction to the at least one other locally spaced agent, a processor coupled with the means for providing mobility and the means for detecting distance and direction in order to control the movement of the agent and to process the distances and directions between the agent and the at least one other locally spaced agent, and wherein each agent is operative to determine the distance and direction of each other agent locally spaced with respect thereto, to process the distances and directions between the agent and each other locally spaced agent;
- and to maintain a predetermined distance from each other locally spaced agent.
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33. A controlled-movement agent for use in a plurality of agents including at least one other agent locally spaced at a distance from the controlled-movement agent, the controlled movement agent comprising:
- a means for providing mobility, a means for detecting distance and direction to the at least one other locally spaced agent, a processor coupled with the means for providing mobility and the means for detecting distance and direction in order to control the movement of the agent and to process the distances and directions between the agent and the at least one other locally spaced agent, and wherein the agent is operative to determine the distance and direction of each other agent locally spaced with respect thereto, to process the distances and directions between the agent and each other locally spaced agent; and
to maintain a predetermined distance from each other locally spaced agent. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46)
- a means for providing mobility, a means for detecting distance and direction to the at least one other locally spaced agent, a processor coupled with the means for providing mobility and the means for detecting distance and direction in order to control the movement of the agent and to process the distances and directions between the agent and the at least one other locally spaced agent, and wherein the agent is operative to determine the distance and direction of each other agent locally spaced with respect thereto, to process the distances and directions between the agent and each other locally spaced agent; and
Specification