Conflict resolution based on object behavioral determination and collaborative relative positioning

• US 9,235,212 B2
• Filed: 04/30/2013
• Issued: 01/12/2016
• Est. Priority Date: 05/01/2012
• Status: Active Grant

• Current Assignee: Humatics Corporation
• Original Assignee: 5D Robotics, Inc. (Humatics Corporation)
• Inventors: Bruemmer, David J., Hardin, Benjamin C., Nielsen, Curtis W.
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US13/873,620
• Publication Number:
  US 20140052293A1
• Time in Patent Office: 987 Days
• Field of Search: 700/245
• US Class Current: 1/1
• CPC Class Codes: G05B 19/041 Function-oriented details
• 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: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G06N 7/01 Probabilistic graphical models, e.g. probabilistic networks

Abstract

Using distributed positioning, collaborative behavioral determination, and probabilistic conflict resolution objects can independently identify and resolve potential conflicts before the occur. In one embodiment of the invention, interactive tags and other sensor resources associated with each of a plurality of objects provide among the objects relative positional data and state information. Using this information each object develops a spatial awareness of its environment, including the positional and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective and resolve potential conflicts.

Claims

1. A method for behavioral determination and conflict resolution by an object, comprising:

identifying a presence of one or more nearby objects;

receiving state data from each of the one or more nearby objects wherein state data includes object identification;

developing a local spatial awareness of an environment including the one or more nearby objects wherein the local spatial awareness includes relative range, bearing and motion of each of the one or more nearby objects and correlates object identification of each of the identified one or more nearby objects with a predetermined authorization list of nearby objects;

correlating the local spatial awareness of the local environment with a primary course of action of the object;

determining one or more probabilistic conflicts between the local spatial awareness and the primary course of action of the object; and

responsive to determining one or more probabilistic conflicts, modifying a behavior of the object.

2. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein modifying including altering the primary course of action to resolve the one or more probabilistic conflicts.

3. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein modifying includes replacing the primary course of action with a secondary course of action to resolve the one or more probabilistic conflicts.

4. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein the primary course of action is associated with a mission objective and modifying includes altering the mission objective to resolve the one or more probabilistic conflicts.

5. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein the one or more probabilistic conflict is determined by a predetermined guarded motion protocol.

6. The method for behavioral determination and conflict resolution by an object according to claim 5, wherein the predetermined guarded motion protocol includes maintaining a minimum safe separation distance between objects.

7. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein the one or more probabilistic conflict is a collision between the object and one or more nearby objects.

8. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein the one or more probabilistic conflict is a collision between the object and a known hazard.

9. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein the local spatial awareness includes range based tracking of each of the one or more nearby objects.

10. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein the presence of one or more nearby objects are determined by interaction of ultra wide band radio frequency identification tags.

11. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein the one or more probabilistic conflict includes identifying an unauthorized presence of one or more nearby objects.

12. The method for behavioral determination and conflict resolution by an object according to claim 1, wherein responsive to determining one or more probabilistic conflicts initiating a user alert system.

13. A system for behavioral determination and conflict resolution by an object, comprising:

a detection module operable to detect a presence of one or more nearby objects and to receive state data, including object identification, from each of the one or more nearby objects;

a spatial awareness engine communicatively coupled to the detection module and operable to create a spatial representation of the one or more nearby objects, wherein the spatial representation provides relative positional and translational information about each of the one or more nearby objects and correlates object identification of each of the identified one or more nearby objects with a predetermined authorization list of nearby objects;

a guarded motion module communicatively coupled to the spatial awareness engine and operable to identify one or more probabilistic conflicts; and

a behavior engine communicatively coupled to the guarded motion module and operable to modify object behavior in response to the identification of one or more probabilistic conflicts.

14. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the detection module receives positional information from an active ranging resource.

15. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the detection module receives collective positional information from the one or more nearby objects.

16. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the one or more probabilistic conflict exists between the object and the detected one or more nearby objects.

17. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the guarded motion module includes one or more predetermined guarded motion protocols.

18. The system for behavioral determination and conflict resolution by an object according to claim 14, wherein one or more predetermined guarded motion protocols includes maintaining a minimum separation between objects.

19. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the one or more probabilistic conflict is a collision between the object and the one or more nearby objects.

20. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the one or more probabilistic conflict is a collision between the object and a known hazard.

21. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the one or more probabilistic conflict is detection of an unauthorized object in the spatial representation.

22. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the behavior is a primary course of action to achieve a mission objective.

23. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the behavior engine modifies a collective mission objective of the object and at least one of the one or more nearby objects.

24. The system for behavioral determination and conflict resolution by an object according to claim 13, wherein the spatial representation is object centric.

25. A system for conflict identification and resolution, comprising:

a plurality of detection modules each operable to detect a presence of one or more nearby objects wherein each of the plurality of detection modules includes a receiver operable to receive state information from the one or more nearby objects including object identification;

a spatial awareness engine communicatively coupled to each of the plurality of detection modules and operable to create a spatial representation of the one or more nearby objects, wherein the spatial representation provides relative positional and translational information about each of the one or more nearby objects and correlates object identification of each of the identified one or more nearby objects with a predetermined authorization list of nearby objects;

a correlation engine coupled to the spatial awareness engine and operable to correlate relative positional and translational information with received state information;

a guarded motion module communicatively coupled to the spatial awareness engine and the correlation engine operable to identify one or more conflicts; and

a behavior engine communicatively coupled to the guarded motion module and operable to modify a behavior in response to identification of one or more conflicts.

26. The system for conflict identification and resolution according to claim 25, wherein each of the plurality of detection modules is operable to independently collect range information to each of the one or more nearby objects.

27. The system for conflict identification and resolution according to claim 25, wherein state information includes identification data.

28. The system for conflict identification and resolution according to claim 25, wherein the one more conflicts includes non-correlation between objects detected by the plurality of detection modules and received state information.