Attract-repel path planner system for collision avoidance

Paglieroni, David W.; Beer, N. Reginald; Chambers, David

Advanced Search OptionsAdvanced Search queries use a traditional Term Search. For more info, see our FAQ.

All Fields:

Patent Title:

Abstract:

Assignee:

Inventor(s):

Patent Number:

Patent Classification (CPC):

More Options ...

Title: Attract-repel path planner system for collision avoidance

Abstract

A system for determining a travel direction that avoids objects when a vehicle travels from a current location to a target location is provided. The system determines a travel direction based on an attract-repel model. The system assigns a repel value to the object locations and an attract value. A repel represents a magnitude of a directional repulsive force, and the attract value represents the magnitude of a directional repulsive force. The system calculates an attract-repel field having an attract-repel magnitude and attract-repel direction for the current location based on the repel values and their directions and the attract value and its direction. The system then determines the travel direction for a vehicle to be the direction of the attract-repel field at the current location.

Inventors:: Paglieroni, David W.; Beer, N. Reginald; Chambers, David

Issue Date:: 2023-02-07

Research Org.:: Lawrence Livermore National Laboratory (LLNL), Livermore, CA (United States)

Sponsoring Org.:: USDOE

OSTI Identifier:: 1987106

Patent Number(s):: 11573575

Application Number:: 16/603,977

Assignee:: Lawrence Livermore National Security, LLC (Livermore, CA)

Patent Classifications (CPCs):: G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

Show more

G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G05D1/0217 - {in accordance with energy consumption, time reduction or distance reduction criteria}
G05D1/0238 - {using obstacle or wall sensors
G05D1/0259 - {using magnetic or electromagnetic means}
G05D1/0274 - {using mapping information stored in a memory device
G05D2201/0212 - Driverless passenger transport vehicle

Show less

DOE Contract Number:: AC52-07NA27344

Resource Type:: Patent

Resource Relation:: Patent File Date: 04/12/2017

Country of Publication:: United States

Language:: English

Citation Formats


                    Paglieroni, David W., Beer, N. Reginald, and Chambers, David. Attract-repel path planner system for collision avoidance.  United States: N. p., 2023. 
        Web.

Copy to clipboard


                    Paglieroni, David W., Beer, N. Reginald, & Chambers, David. Attract-repel path planner system for collision avoidance.  United States.

Copy to clipboard


                    Paglieroni, David W., Beer, N. Reginald, and Chambers, David. Tue .  
        "Attract-repel path planner system for collision avoidance".  United States.  https://www.osti.gov/servlets/purl/1987106.

Copy to clipboard


                    
@article{osti_1987106,

  title        = {Attract-repel path planner system for collision avoidance},

  author       = {Paglieroni, David W. and Beer, N. Reginald and Chambers, David},

  abstractNote = {A system for determining a travel direction that avoids objects when a vehicle travels from a current location to a target location is provided. The system determines a travel direction based on an attract-repel model. The system assigns a repel value to the object locations and an attract value. A repel represents a magnitude of a directional repulsive force, and the attract value represents the magnitude of a directional repulsive force. The system calculates an attract-repel field having an attract-repel magnitude and attract-repel direction for the current location based on the repel values and their directions and the attract value and its direction. The system then determines the travel direction for a vehicle to be the direction of the attract-repel field at the current location.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {2023},

  month        = {2}

}

Copy to clipboard

Patent:

Save / Share:

Export Metadata

Save to My Library

Works referenced in this record:

Distributed control for multiple quadrotors with obstacle avoidance using potential fields
conference, July 2016

Luque-Vega, Luis F.; Gonzalez-Jimenez, Luis E.; Fernandez-Flores, David
2016 World Automation Congress (WAC)
https://doi.org/10.1109/WAC.2016.7582965

Methods and apparatus for swarm navigation of multiple agents
patent, July 2012

Bauer, Peter; Scheutz, Matthias J.
US Patent Document 8,234,067
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8234067

A unified distance transform algorithm and architecture
journal, December 1992

Paglieroni, David W.
Machine Vision and Applications, Vol. 5, Issue 1
https://doi.org/10.1007/BF01213529

Flying Fast and Low Among Obstacles: Methodology and Experiments
journal, May 2008

Scherer, Sebastian; Singh, Sanjiv; Chamberlain, Lyle
The International Journal of Robotics Research, Vol. 27, Issue 5
https://doi.org/10.1177/0278364908090949

Unmanned Aerial Vehicle Flight Path Determination, Optimization, and Management
patent-application, November 2015

Pasko, Douglas M.; Srivastava, Ashok N.; Batla, Hani
US Patent Application 14/282163; 20150336668
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20150336668

Swarm Formation Control Utilizing Elliptical Surfaces and Limiting Functions
journal, December 2009

Barnes, L. E.; Fields, M. A.; Valavanis, K. P.
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), Vol. 39, Issue 6
https://doi.org/10.1109/TSMCB.2009.2018139

Control of swarms of autonomous robots using Model Driven Development - A state-based approach
conference, April 2011

Ouellet, Dany; Givigi, Sidney N.; Beaulieu, Alain J. G.
2011 IEEE International Systems Conference
https://doi.org/10.1109/SYSCON.2011.5929129

Surveying Areas Using a Radar System and an Unmanned Aerial Vehicle
patent-application, April 2016

Pulleti, Uday K.; Gonia, Patrick
US Patent Application 14/521199; 20160116915
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20160116915

Systems and Methods for Time-Based Parallel Robotic Operation
patent-application, November 2015

Linnell, Jeffrey; Byrne, Kendra
US Patent Application 14/333311; 20150336269
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20150336269

Formation Flight Plan Coordination of Unmanned Aerial Vehicles
patent-application, March 2018

Liu, Hugh Hong-Tao; Zhu, Hao Cheng; Findlay, Everett James
US Patent Application 15/263901;20180074520
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20180074520

Real-time 3D navigation for autonomous vision-guided MAVs
conference, September 2015

Xu, Shengdong; Honegger, Dominik; Pollefeys, Marc
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
https://doi.org/10.1109/IROS.2015.7353354

Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
journal, January 2012

Kendoul, Farid
Journal of Field Robotics, Vol. 29, Issue 2
https://doi.org/10.1002/rob.20414

Capturing Environmental Information
patent-application, October 2012

Spata, Gregory P.
US Patent Application 13/222230; 20120271461
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20120271461

Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles
journal, November 2011

Bennet, Derek J.; MacInnes, C. R.; Suzuki, M.
Journal of Guidance, Control, and Dynamics, Vol. 34, Issue 6
https://doi.org/10.2514/1.53931

Path Planning in Complex 3D Environments Using a Probabilistic Roadmap Method
journal, December 2013

Yan, Fei; Liu, Yi-Sha; Xiao, Ji-Zhong
International Journal of Automation and Computing, Vol. 10, Issue 6
https://doi.org/10.1007/s11633-013-0750-9

Unmanned Aerial Vehicle and Methods for Controlling Same
patent-application, October 2014

Kugelmass, Bret
US Patent Application 14/204634; 20140316616
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20140316616

Sequential Operations in Digital Picture Processing
journal, October 1966

Pfaltz, John L.
Journal of the ACM, Vol. 13, Issue 4
https://doi.org/10.1145/321356.321357

An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment
conference, September 2011

Sfeir, Joe; Saad, Maarouf; Saliah-Hassane, Hamadou
2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)
https://doi.org/10.1109/ROSE.2011.6058518

Collaborative system for a team of unmanned vehicles
patent-application, January 2007

Appleby, Brent D.; Franke, Jerry L.; Jameson, Stephen M.
US Patent Application 11/188830; 20070021880
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20070021880

Computing Device and Method for Controlling Unmanned Aerial Vehicle to Capture Images
patent-application, June 2013

Lee, Hou-Hsien; Lee, Chang-Jung; Lo, Chih-Ping
US Patent Application 13/719046; 20130162822
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20130162822

Obstacle-avoiding navigation system
patent, April 1991

Borenstein, Johann; Koren, Yoram; Levine, Simon
US Patent Document 5,006,988
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/5006988

Autonomous Nap-Of-the-Earth (ANOE) Flight Path Planning for Manned and Unmanned Rotorcraft
patent-application, July 2016

Kohn-Rich, Sylvia
US Patent Application 14/599574; 20160210863
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20160210863

Dynamically reconfigurable sensor arrays
patent, June 2014

Maleki, Lute
US Patent Document 8,761,603
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8761603

Multi-user MIMO via active scattering platforms
patent, October 2017

Chang, Donald C. D.; Lee, Juo-Yu
US Patent Document 9,780,859
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9780859

System for and Method of Detecting a Collision and Predicting a Vehicle Path
patent-application, February 2007

Mudalige, Upali Priyantha; Kellum, Carroll C.
US Patent Application 11/207168; 20070043502
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20070043502

Matching Random Tree Models of Spatio-Temporal Patterns to Tables or Graphs
conference, April 2007

Paglieroni, David W.; Nekoogar, Faranak
2007 IEEE Symposium on Computational Intelligence and Data Mining
https://doi.org/10.1109/CIDM.2007.368925

Surveying areas using a radar system and an unmanned aerial vehicle
patent, August 2016

Pulleti, Uday; Gonia, Patrick
US Patent Document 9,429,945
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9429945

System for and Method of Determining a Host Vehicle Lane Change
patent-application, February 2007

Mudalige, Upali Priyantha; Hamilton, William E.
US Patent Application 11/436497; 20070043506
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20070043506

A Formal Basis for the Heuristic Determination of Minimum Cost Paths
journal, January 1968

Hart, Peter; Nilsson, Nils; Raphael, Bertram
IEEE Transactions on Systems Science and Cybernetics, Vol. 4, Issue 2
https://doi.org/10.1109/TSSC.1968.300136

Reactive obstacle avoidance for Rotorcraft UAVs
conference, September 2011

Hrabar, S.
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
https://doi.org/10.1109/IROS.2011.6094629

Unmanned Vehicle Movement Path Assignment and Management
patent-application, November 2016

Brown, Jay A.; Watson, Thomas J.
US Patent Application 14/703062; 20160327959
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20160327959

Outdoor flocking and formation flight with autonomous aerial robots
conference, September 2014

Vasarhelyi, G.; Viragh, Cs.; Somorjai, G.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
https://doi.org/10.1109/IROS.2014.6943105

Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays
patent, August 2015

Stark, James Alexander; Wong, Clifford; Trowbridge, Robert Scott
US Patent Document 9,102,406
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9102406

Systems and methods for operating drones in response to an incident
patent, March 2021

Flick, Bryan
US Patent Document 10,956,980
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/10956980

Object Discrimination Based on a Swarm of Agents
patent-application, March 2018

Beer, N. Reginald; Chambers, David; Chandrasekaran, Hema
US Patent Application 15/267066; 20180074174
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20180074174

Swarm management
patent, May 2015

Clark, Brendan Edward; Krosky, Ronald Charles; Ammar, Phillip George
US Patent Document 9,043,021
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9043021

A linear time algorithm for computing exact Euclidean distance transforms of binary images in arbitrary dimensions
journal, February 2003

Maurer, C. R.; Raghavan, V.
IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 25, Issue 2
https://doi.org/10.1109/TPAMI.2003.1177156

Multi-Sensor Environmental Mapping
patent-application, March 2016

Liu, Ang; Mo, Weiyu; Ling, Yonggen
US Patent Application 14/814159; 20160070265
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20160070265

Classification of subsurface objects using singular values derived from signal frames
patent, May 2014

Chambers, David; Paglieroni, David W.
US Patent Document 8,717,223
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8717223

Control and Systems for Autonomously Driver Vehicles
patent-application, October 2013

Trepagnier, Paul Gerard; Nagel, Jorge Emilio; Dooner, Matthew Taylor
US Patent Application 13/854630; 20130274986
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20130274986

Mission planning system for vehicles with varying levels of autonomy
patent-application, August 2006

Appleby, Brent; Paradis, Rosemary D.; Szczerba, Robert J.
US Patent Application 11/058836; 20060184292
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20060184292

Dynamic Collision-Avoidance System and Method
patent-application, October 2017

Kunzi, Fabrice; Rogers, Donald; McKenna, Terrence
US Patent Application 15/291892; 20170301249
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20170301249

Towards A Swarm of Agile Micro Quadrotors
conference, July 2012

Kushleyev, Aleksandr; Kumar, Vijay; Mellinger, Daniel
Robotics: Science and Systems VIII
https://doi.org/10.15607/RSS.2012.VIII.028

A note on two problems in connexion with graphs
journal, December 1959

Dijkstra, E. W.
Numerische Mathematik, Vol. 1, Issue 1
https://doi.org/10.1007/BF01386390

UAV formation flight using 3D potential field
conference, June 2008

Paul, Tobias; Krogstad, Thomas R.; Gravdahl, Jan Tommy
2008 16th Mediterranean Conference on Control and Automation
https://doi.org/10.1109/MED.2008.4601984

Reconnaissance using unmanned surface vehicles and unmanned micro-aerial vehicles
patent, March 2004

Kucik, Daniel
US Patent Document 6,712,312
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6712312

Acoustic time-reversal mirrors
journal, January 2001

Fink, Mathias; Prada, Claire
Inverse Problems, Vol. 17, Issue 1, p. R1-R38
https://doi.org/10.1088/0266-5611/17/1/201

Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies
conference, January 2009

Xue, Zhibin; Zeng, Jianchao
2009 International Conference on Measuring Technology and Mechatronics Automation
https://doi.org/10.1109/ICMTMA.2009.559

Faster algorithms for the shortest path problem
journal, April 1990

Ahuja, Ravindra K.; Mehlhorn, Kurt; Orlin, James
Journal of the ACM, Vol. 37, Issue 2
https://doi.org/10.1145/77600.77615

Fibonacci heaps and their uses in improved network optimization algorithms
journal, July 1987

Fredman, Michael L.; Tarjan, Robert Endre
Journal of the ACM, Vol. 34, Issue 3
https://doi.org/10.1145/28869.28874

Data Transmission System and Method
patent-application, August 2012

Agrell, Erik; Sjodin, Martin
US Patent Application 13/503692; 20120207476
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20120207476

System and Methods Relating to Autonomous Tracking and Surveillance
patent-application, February 2010

Kokkeby, Kristen L.; Lutter, Robert P.; Munoz, Michael L.
US Patent Application 12/334325; 20100042269
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20100042269

Systems and Methods for Drone Navigation
patent-application, May 2016

Levy, Ziv; Levy, Ran
US Patent Application 14/882575; 20160140851
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20160140851

The Potential Field Approach And Operational Space Formulation In Robot Control
book, January 1986

Khatib, Oussama
Adaptive and Learning Systems
https://doi.org/10.1007/978-1-4757-1895-9_26

Kinodynamic Motion Planning
journal, March 2010

Masoud, Ahmad A.
IEEE Robotics & Automation Magazine, Vol. 17, Issue 1
https://doi.org/10.1109/MRA.2010.935794

Method and System for Aircraft Taxi Strike Alerting
patent-application, October 2017

Ell, Todd; Rutkiewicz, Robert; Pesik, Joseph T.
US Patent Application 15/385224; 20170301250
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20170301250

Systems and methods for automated cloud-based analytics for surveillance systems with unmanned aerial devices
patent, August 2016

Renkis, Martin A.
US Patent Document 9,407,881
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9407881

Collisionless flying of unmanned aerial vehicles that maximizes coverage of predetermined region
patent, March 2017

Bogdanowicz, Zbigniew; Patel, Ketula
US Patent Document 9,599,994
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9599994

Design of Experiments
book, September 2012

Cavazzuti, Marco
Optimization Methods
https://doi.org/10.1007/978-3-642-31187-1_2

Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array
patent, August 2015

Pillai, Unnikrishna Sreedharan; Mangiat, Alain Anthony
US Patent Document 9,104,201
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9104201

Path planning and formation control via potential function for UAV Quadrotor
conference, June 2014

Rizqi, Ahmad Ataka Awwalur; Cahyadi, Adha Imam; Adji, Teguh Bharata
2014 International Conference on Advanced Robotics and Intelligent Systems (ARIS)
https://doi.org/10.1109/ARIS.2014.6871517

Object detection and analysis via unmanned aerial vehicle
patent, June 2018

Cuban, Mark; Reitman, Joyce; Pritchard, Jeffrey Orion
US Patent Document 9,989,965
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9989965

Unmanned Vehicle (UV) Control System
patent-application, August 2015

Mullan, Pramila; Negm, Walid; Liongosari, Edy S.
US Patent Application 14/619854; 20150234387
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20150234387

Driving Assistance Apparatus
patent-application, March 2017

Suzuki, Takamitsu; Katoh, Takahira; Yamamoto, Takeshi
US Patent Application 15/310903; 20170088130
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20170088130

A strategy of multi-robot formation and obstacle avoidance in unknown environment
conference, August 2016

Chi, Ting; Zhang, Chengjin; Song, Yong
2016 IEEE International Conference on Information and Automation (ICIA)
https://doi.org/10.1109/ICInfA.2016.7832048

Airborne relays in cooperative-MIMO systems
patent, October 2017

Shattil, Steve
US Patent Document 9,798,329
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9798329

Multiple pass location processor
patent-application, January 2004

Anderson, Robert J.
US Patent Application 10/414982; 20040017312
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20040017312

Subject Tracking System for Autonomous Vehicles
patent-application, April 2017

Garland, Jeffrey Clyne
US Patent Application 14/562020; 20170097645
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20170097645

The Hungarian method for the assignment problem
journal, March 1955

Kuhn, H. W.
Naval Research Logistics Quarterly, Vol. 2, Issue 1-2, p. 83-97
https://doi.org/10.1002/nav.3800020109

Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors
journal, January 2015

Gageik, Nils; Benz, Paul; Montenegro, Sergio
IEEE Access, Vol. 3
https://doi.org/10.1109/ACCESS.2015.2432455

Neural Network-Based Mobility Management for Healing Mobile Ad Hoc Radio Networks
patent-application, December 2007

El-Damhougy, Hesham
US Patent Application 11/426428; 20070299947
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20070299947

Path Generator for Mobile Object
patent-application, December 2006

Hasegawa, Yuji; Yamada, Kentarou
US Patent Application 11/452270; 20060293792
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20060293792

System and method for controlling unmanned aerial vehicles
patent, December 2017

Shehata, Kareem; Thiffault, Matthew; Pike, James Thomas
US Patent Document 9,841,761
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9841761

Autonomous Mobile Body
patent-application, May 2013

Shitamoto, Hideo; Nakano, Tsuyoshi; Tanaka, Shoji
US Patent Application 13/809719; 20130116880
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20130116880

New scaling algorithms for the assignment and minimum mean cycle problems
journal, February 1992

Orlin, James B.; Ahuja, Ravindra K.
Mathematical Programming, Vol. 54, Issue 1-3, p. 41-56
https://doi.org/10.1007/BF01586040

UCAV Path Planning by Fitness-Scaling Adaptive Chaotic Particle Swarm Optimization
journal, January 2013

Zhang, Yudong; Wu, Lenan; Wang, Shuihua
Mathematical Problems in Engineering, Vol. 2013
https://doi.org/10.1155/2013/705238

Energy-based approach for obstacle avoidance
patent, October 2000

Sarangapani, Jagannathan
US Patent Document 6,134,502
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6134502

Object detection with a multistatic array using singular value decomposition
patent, July 2014

Hallquist, Aaron; Chambers, David
US Patent Document 8,766,845
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8766845

Wireless signal localization and collection from an airborne symmetric line array network
patent, October 2018

Ngo, Tan Anh; Tummala, Murali; McEachen, John C.
US Patent Document 10,107,891
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/10107891

Airborne Relays in Cooperative-MIMO Systems
patent-application, August 2017

Shattil, Steve
US Patent Application 15/218609; 20170235316
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20170235316

Similar Records in DOE Patents and OSTI.GOV collections:

Swarm path planner system for vehicles

Patent Paglieroni, David W.; Beer, N. Reginald; Chambers, David

A system for determining optimal paths without collision through a travel volume for a swarm of vehicles is disclosed. The system determines a travel path for the swarm leader vehicle using a minimal cost path derived from various measures of environmental cost for avoiding objects in traveling from leader location to target location. The system also determines, for each empty neighbor location of each follower vehicle, relational costs for follower vehicle travel relative to leader vehicle travel. The various measures of relational cost seek to maintain a prescribed positional relationship between each follower vehicle and the leader vehicle given themore » « less
Full Text Available
Collision avoidance based on traffic management data

Patent Beer, N. Reginald; Trueblood, Jacob; Wihl, Brian Matthew

A system for determining a travel direction that avoids objects when a vehicle travels from a current location to a target location is provided. The system determines a travel direction based on an attract-repel model. The system accesses external object information provided by an external object system. The external object information may include, for each of a plurality of objects, location, type, and constraint. The system assigns a repel value to the location of each object based on the type of and constraint on the object. The system assigns an attractive value to the target location. The system calculates amore » « less
Full Text Available
Channel hopping method of interference avoidance for a wireless communication network and wireless communication system employing the same

Patent Rentel, Carlos H.; Pereira, Luis R.; Gutierrez, Jose A.

A wireless communication system includes a wireless master node having a plurality of channels, and a number of wireless slave nodes having a plurality of the channels. The master node and the slave nodes are structured to wirelessly communicate over a particular channel. The master node and the slave nodes are structured to decide to hop to a different channel. The master node and the slave nodes are structured to select: (a) the different channel, in order to be as far away as possible from a number of the channels, which are known to cause interference to wireless communications betweenmore » « less
Full Text Available
Obstacle-avoiding navigation system

Patent Borenstein, Johann [Ann Arbor, MI]; Koren, Yoram [Ann Arbor, MI]; Levine, Simon P [Ann Arbor, MI]

A system for guiding an autonomous or semi-autonomous vehicle through a field of operation having obstacles thereon to be avoided employs a memory for containing data which defines an array of grid cells which correspond to respective subfields in the field of operation of the vehicle. Each grid cell in the memory contains a value which is indicative of the likelihood, or probability, that an obstacle is present in the respectively associated subfield. The values in the grid cells are incremented individually in response to each scan of the subfields, and precomputation and use of a look-up table avoids complexmore » « less
Full Text Available
Object sense and avoid system for autonomous vehicles

Patent Beer, N. Reginald; Chambers, David; Paglieroni, David W.

A system for determining a travel path for an autonomous vehicle (“AV”) to travel to a target while avoiding objects (i.e., obstacles) without the use of an imaging system is provided. An object sense and avoid (“OSA”) system detects objects in an object field that is adjacent to the AV and dynamically generates, as the AV travels, a travel path to the target to avoid the objects. The OSA system repeatedly uses sensors to collect sensor data of any objects in the object field. An object detection system then detects the objects and determines their locations based on triangulating rangesmore » « less
Full Text Available

Similar Records

Title: Attract-repel path planner system for collision avoidance

Abstract

Citation Formats

Distributed control for multiple quadrotors with obstacle avoidance using potential fields conference, July 2016

Methods and apparatus for swarm navigation of multiple agents patent, July 2012

A unified distance transform algorithm and architecture journal, December 1992

Flying Fast and Low Among Obstacles: Methodology and Experiments journal, May 2008

Unmanned Aerial Vehicle Flight Path Determination, Optimization, and Management patent-application, November 2015

Swarm Formation Control Utilizing Elliptical Surfaces and Limiting Functions journal, December 2009

Control of swarms of autonomous robots using Model Driven Development - A state-based approach conference, April 2011

Surveying Areas Using a Radar System and an Unmanned Aerial Vehicle patent-application, April 2016

Systems and Methods for Time-Based Parallel Robotic Operation patent-application, November 2015

Formation Flight Plan Coordination of Unmanned Aerial Vehicles patent-application, March 2018

Real-time 3D navigation for autonomous vision-guided MAVs conference, September 2015

Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems journal, January 2012

Capturing Environmental Information patent-application, October 2012

Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles journal, November 2011

Path Planning in Complex 3D Environments Using a Probabilistic Roadmap Method journal, December 2013

Unmanned Aerial Vehicle and Methods for Controlling Same patent-application, October 2014

Sequential Operations in Digital Picture Processing journal, October 1966

An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment conference, September 2011

Collaborative system for a team of unmanned vehicles patent-application, January 2007

Computing Device and Method for Controlling Unmanned Aerial Vehicle to Capture Images patent-application, June 2013

Obstacle-avoiding navigation system patent, April 1991

Autonomous Nap-Of-the-Earth (ANOE) Flight Path Planning for Manned and Unmanned Rotorcraft patent-application, July 2016

Dynamically reconfigurable sensor arrays patent, June 2014

Multi-user MIMO via active scattering platforms patent, October 2017

System for and Method of Detecting a Collision and Predicting a Vehicle Path patent-application, February 2007

Matching Random Tree Models of Spatio-Temporal Patterns to Tables or Graphs conference, April 2007

Surveying areas using a radar system and an unmanned aerial vehicle patent, August 2016

System for and Method of Determining a Host Vehicle Lane Change patent-application, February 2007

A Formal Basis for the Heuristic Determination of Minimum Cost Paths journal, January 1968

Reactive obstacle avoidance for Rotorcraft UAVs conference, September 2011

Unmanned Vehicle Movement Path Assignment and Management patent-application, November 2016

Outdoor flocking and formation flight with autonomous aerial robots conference, September 2014

Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays patent, August 2015

Systems and methods for operating drones in response to an incident patent, March 2021

Object Discrimination Based on a Swarm of Agents patent-application, March 2018

Swarm management patent, May 2015

A linear time algorithm for computing exact Euclidean distance transforms of binary images in arbitrary dimensions journal, February 2003

Multi-Sensor Environmental Mapping patent-application, March 2016

Classification of subsurface objects using singular values derived from signal frames patent, May 2014

Control and Systems for Autonomously Driver Vehicles patent-application, October 2013

Mission planning system for vehicles with varying levels of autonomy patent-application, August 2006

Dynamic Collision-Avoidance System and Method patent-application, October 2017

Towards A Swarm of Agile Micro Quadrotors conference, July 2012

A note on two problems in connexion with graphs journal, December 1959

UAV formation flight using 3D potential field conference, June 2008

Reconnaissance using unmanned surface vehicles and unmanned micro-aerial vehicles patent, March 2004

Acoustic time-reversal mirrors journal, January 2001

Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies conference, January 2009

Faster algorithms for the shortest path problem journal, April 1990

Fibonacci heaps and their uses in improved network optimization algorithms journal, July 1987

Data Transmission System and Method patent-application, August 2012

System and Methods Relating to Autonomous Tracking and Surveillance patent-application, February 2010

Systems and Methods for Drone Navigation patent-application, May 2016

The Potential Field Approach And Operational Space Formulation In Robot Control book, January 1986

Kinodynamic Motion Planning journal, March 2010

Method and System for Aircraft Taxi Strike Alerting patent-application, October 2017

Systems and methods for automated cloud-based analytics for surveillance systems with unmanned aerial devices patent, August 2016

Collisionless flying of unmanned aerial vehicles that maximizes coverage of predetermined region patent, March 2017

Design of Experiments book, September 2012

Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array patent, August 2015

Path planning and formation control via potential function for UAV Quadrotor conference, June 2014

Object detection and analysis via unmanned aerial vehicle patent, June 2018

Unmanned Vehicle (UV) Control System patent-application, August 2015

Driving Assistance Apparatus patent-application, March 2017

A strategy of multi-robot formation and obstacle avoidance in unknown environment conference, August 2016

Airborne relays in cooperative-MIMO systems patent, October 2017

Multiple pass location processor patent-application, January 2004

Subject Tracking System for Autonomous Vehicles patent-application, April 2017

The Hungarian method for the assignment problem journal, March 1955

Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors journal, January 2015

Neural Network-Based Mobility Management for Healing Mobile Ad Hoc Radio Networks patent-application, December 2007

Path Generator for Mobile Object patent-application, December 2006

System and method for controlling unmanned aerial vehicles patent, December 2017

Autonomous Mobile Body patent-application, May 2013

New scaling algorithms for the assignment and minimum mean cycle problems journal, February 1992

UCAV Path Planning by Fitness-Scaling Adaptive Chaotic Particle Swarm Optimization journal, January 2013

Energy-based approach for obstacle avoidance patent, October 2000

Distributed control for multiple quadrotors with obstacle avoidance using potential fields
conference, July 2016

Methods and apparatus for swarm navigation of multiple agents
patent, July 2012

A unified distance transform algorithm and architecture
journal, December 1992

Flying Fast and Low Among Obstacles: Methodology and Experiments
journal, May 2008

Unmanned Aerial Vehicle Flight Path Determination, Optimization, and Management
patent-application, November 2015

Swarm Formation Control Utilizing Elliptical Surfaces and Limiting Functions
journal, December 2009

Control of swarms of autonomous robots using Model Driven Development - A state-based approach
conference, April 2011

Surveying Areas Using a Radar System and an Unmanned Aerial Vehicle
patent-application, April 2016

Systems and Methods for Time-Based Parallel Robotic Operation
patent-application, November 2015

Formation Flight Plan Coordination of Unmanned Aerial Vehicles
patent-application, March 2018

Real-time 3D navigation for autonomous vision-guided MAVs
conference, September 2015

Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
journal, January 2012

Capturing Environmental Information
patent-application, October 2012

Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles
journal, November 2011

Path Planning in Complex 3D Environments Using a Probabilistic Roadmap Method
journal, December 2013

Unmanned Aerial Vehicle and Methods for Controlling Same
patent-application, October 2014

Sequential Operations in Digital Picture Processing
journal, October 1966

An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment
conference, September 2011

Collaborative system for a team of unmanned vehicles
patent-application, January 2007

Computing Device and Method for Controlling Unmanned Aerial Vehicle to Capture Images
patent-application, June 2013

Obstacle-avoiding navigation system
patent, April 1991

Autonomous Nap-Of-the-Earth (ANOE) Flight Path Planning for Manned and Unmanned Rotorcraft
patent-application, July 2016

Dynamically reconfigurable sensor arrays
patent, June 2014

Multi-user MIMO via active scattering platforms
patent, October 2017

System for and Method of Detecting a Collision and Predicting a Vehicle Path
patent-application, February 2007

Matching Random Tree Models of Spatio-Temporal Patterns to Tables or Graphs
conference, April 2007

Surveying areas using a radar system and an unmanned aerial vehicle
patent, August 2016

System for and Method of Determining a Host Vehicle Lane Change
patent-application, February 2007

A Formal Basis for the Heuristic Determination of Minimum Cost Paths
journal, January 1968

Reactive obstacle avoidance for Rotorcraft UAVs
conference, September 2011

Unmanned Vehicle Movement Path Assignment and Management
patent-application, November 2016

Outdoor flocking and formation flight with autonomous aerial robots
conference, September 2014

Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays
patent, August 2015

Systems and methods for operating drones in response to an incident
patent, March 2021

Object Discrimination Based on a Swarm of Agents
patent-application, March 2018

Swarm management
patent, May 2015

A linear time algorithm for computing exact Euclidean distance transforms of binary images in arbitrary dimensions
journal, February 2003

Multi-Sensor Environmental Mapping
patent-application, March 2016

Classification of subsurface objects using singular values derived from signal frames
patent, May 2014

Control and Systems for Autonomously Driver Vehicles
patent-application, October 2013

Mission planning system for vehicles with varying levels of autonomy
patent-application, August 2006

Dynamic Collision-Avoidance System and Method
patent-application, October 2017

Towards A Swarm of Agile Micro Quadrotors
conference, July 2012

A note on two problems in connexion with graphs
journal, December 1959

UAV formation flight using 3D potential field
conference, June 2008

Reconnaissance using unmanned surface vehicles and unmanned micro-aerial vehicles
patent, March 2004

Acoustic time-reversal mirrors
journal, January 2001

Formation Control Numerical Simulations of Geometric Patterns for Unmanned Autonomous Vehicles with Swarm Dynamical Methodologies
conference, January 2009

Faster algorithms for the shortest path problem
journal, April 1990

Fibonacci heaps and their uses in improved network optimization algorithms
journal, July 1987

Data Transmission System and Method
patent-application, August 2012

System and Methods Relating to Autonomous Tracking and Surveillance
patent-application, February 2010

Systems and Methods for Drone Navigation
patent-application, May 2016

The Potential Field Approach And Operational Space Formulation In Robot Control
book, January 1986

Kinodynamic Motion Planning
journal, March 2010

Method and System for Aircraft Taxi Strike Alerting
patent-application, October 2017

Systems and methods for automated cloud-based analytics for surveillance systems with unmanned aerial devices
patent, August 2016

Collisionless flying of unmanned aerial vehicles that maximizes coverage of predetermined region
patent, March 2017

Design of Experiments
book, September 2012

Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array
patent, August 2015

Path planning and formation control via potential function for UAV Quadrotor
conference, June 2014

Object detection and analysis via unmanned aerial vehicle
patent, June 2018

Unmanned Vehicle (UV) Control System
patent-application, August 2015

Driving Assistance Apparatus
patent-application, March 2017

A strategy of multi-robot formation and obstacle avoidance in unknown environment
conference, August 2016

Airborne relays in cooperative-MIMO systems
patent, October 2017

Multiple pass location processor
patent-application, January 2004

Subject Tracking System for Autonomous Vehicles
patent-application, April 2017

The Hungarian method for the assignment problem
journal, March 1955

Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors
journal, January 2015

Neural Network-Based Mobility Management for Healing Mobile Ad Hoc Radio Networks
patent-application, December 2007

Path Generator for Mobile Object
patent-application, December 2006

System and method for controlling unmanned aerial vehicles
patent, December 2017

Autonomous Mobile Body
patent-application, May 2013

New scaling algorithms for the assignment and minimum mean cycle problems
journal, February 1992

UCAV Path Planning by Fitness-Scaling Adaptive Chaotic Particle Swarm Optimization
journal, January 2013

Energy-based approach for obstacle avoidance
patent, October 2000

Object detection with a multistatic array using singular value decomposition
patent, July 2014

Wireless signal localization and collection from an airborne symmetric line array network
patent, October 2018

Airborne Relays in Cooperative-MIMO Systems
patent-application, August 2017