System, methods and apparatus for aggregating groups of mobile robotic vehicles

• US 20040134336A1
• Filed: 04/22/2003
• Published: 07/15/2004
• Est. Priority Date: 04/22/2002
• Status: Abandoned Application

• Current Assignee: Solomon Research LLC
• Original Assignee: Solomon Research LLC
• Inventors: Solomon, Neal
• Application Number:
  US10/421,985
• Publication Number:
  US 20040134336A1
• Time in Patent Office: Days
• US Class Current: 89/1.11
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: F41H 13/00 Means of attack or defence not otherwise provided for details of radar or sonar systems G01S7/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: H04B 7/18517 Transmission equipment in earth stations
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Abstract

Aggregation processes of mobile robotic vehicles (MRVs) in a swarm weapon system are described. The formation of MRVs from the larger swarm into specific squads is organized by a lead MRV that makes decisions on the specific spatial configuration by determining the optimal approach to interact with the environment in rapidly changing battlefield situations. The initial phase of organization into specific configurations is contingent on information about enemy targets.

Claims

1. A system for controlling aggregation of mobile robotic vehicles, comprising:

a plurality of mobile robotic vehicles (MRVs);

a plurality of squads, each squad having a lead MRV and member MRVs; and

control logic configured to control formation of the plurality of MRVs into the plurality of squads in response to an external stimulus;

wherein each squad is organized into a specific spatial configuration by the lead MRV; and

wherein the specific spatial configuration of each squad is determined based on information on one or more enemy targets in an environment.

2. The system of claim 1 wherein the plurality of MRVs function collectively as a network;

wherein the network continually tracks one or more targets;

wherein the network continually adjusts tracking of the one or more targets as such targets move;

wherein the network collects information about the one or more targets;

wherein the information is sent to a lead MRV;

wherein the lead MRV analyzes the information, makes a decision and generates instructions on how to attack the one or more targets;

wherein the instructions are provided to member MRVs; and

wherein the member MRVs are organized into squads based on the instructions and attack the one or more targets accordingly.

3. The system of claim 2 wherein the information includes distance to the one or more targets and target velocities and vectors.

4. The system of claim 2 wherein the member MRVs regularly report their sensor data to the lead MRV;

wherein the sensor data includes enemy target information;

wherein the lead MRV adjusts an environmental map for dynamic changes in response to the sensor data;

wherein member MRVs at the leading edge of an environment containing the one or more targets further provide additional sensor data to the lead MRV;

wherein member MRVs that are closest to the one or more targets further provide additional sensor data to the lead MRV; and

wherein upon analyzing the additional sensor data, the lead MRV directs the member MRVs that are closest to the one or more targets to attack.

5. The system of claim 4 wherein the member MRVs attacking the one or more targets provide updated sensor data to the lead MRV regarding their respective conditions and the one or more targets;

wherein the lead MRV uses the updated sensor data to re-distribute or add additional member MRVs to attack the one or more targets.

6. The system of claim 4 wherein a member MRV undergoes a self-diagnostic process before it joins the attack on the one or more targets.

7. The system of claim 6 wherein the self-diagnostic process includes:

checking whether it is capable of participating in a squad; and

performing a checklist of operational activities.

8. The system of claim 7 wherein if the member MRV is unable to participate in the squad, it ceases readiness and returns to home base.

9. The system of claim 2 wherein member MRVs are invited to join the attack on the one or more targets.

10. The system of claim 9 wherein the member MRVs which join the attack share common goals with overlapping interests.

11. The system of claim 9 wherein the member MRVs which join the attack are aggregated into a geometric configuration.

12. The system of claim 11 wherein the geometric configuration is contingent on squad priorities.

13. The system of claim 11 wherein the geometric configuration is formed as follows:

member MRVs sending sensor data to the lead MRV;

the lead MRV assessing the sensor data according to program parameters;

the lead MRV identifying positions of selected member MRVs;

the lead MRV selecting a simulation and developing the geometric formation for the selected member MRVs;

the lead MRV providing the instructions to the selected member MRVs; and

the selected member MRVs forming the geometric formation based on the instructions.

14. The system of claim 13 wherein within the geometric formation, one or more of the selected member MRVs having specific functions are situated at specific positions.

15. The system of claim 2 wherein the information received by the lead MRV has to indicate a specified threshold has been exceeded before the instructions are generated.

16. The system of claim 2 wherein each squad is formed with a minimum number of member MRVs to achieve a specified task.

17. The system of claim 2 wherein sensor data relating to an environment situation is transmitted by the member MRVs to the lead MRV;

wherein the lead MRV analyzes the sensor data and uses weighted values and probabilities to rank a plurality of tactical options for the environment situation;

wherein the lead MRV chooses a tactical option and transmits information relating to the chosen tactical option to the member MRVs; and

wherein the member MRVs execute the chosen tactical option.

18. The system of claim 17 wherein the plurality of tactical options include “

attack one stationary position,”

“

attack two or more stationary positions,”

“

attack mobile positions,”

“

waves of attacks,”

“

alternating waves of attacks,”

“

packing behavior,”

“

outflank and surround positions,”

“

combined attack,”

“

supporting other weapon systems,” and

“

deceptive tactics”

.