초록 ▼

A non-transitory processor-readable medium storing code causes a processor at a first vehicle (e.g., a first autonomous vehicle) to generate a first planned path based on a current position of the first vehicle and a mission requirement assigned to the first vehicle. A first planned path associated

A non-transitory processor-readable medium storing code causes a processor at a first vehicle (e.g., a first autonomous vehicle) to generate a first planned path based on a current position of the first vehicle and a mission requirement assigned to the first vehicle. A first planned path associated with a second vehicle (e.g., a second autonomous vehicle), which is based on a current position of the second vehicle and a mission requirement assigned to the second vehicle, is received at the first vehicle. After the first planned path associated with the second vehicle is received, a second planned path is generated based on the first planned path associated with the second vehicle and at least one of the mission requirement assigned to the first vehicle or the first planned path of the first vehicle. The second planned path of the first vehicle is transmitted to the second vehicle.

대표청구항 ▼

1. A non-transitory processor-readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to: generate, at a first autonomous vehicle, a first planned path from at least a current position of the first autonomous vehicle to a

1. A non-transitory processor-readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to: generate, at a first autonomous vehicle, a first planned path from at least a current position of the first autonomous vehicle to a destination, the first planned path being based, at least in part, on the current position of the first autonomous vehicle and a mission requirement assigned to the first autonomous vehicle to be performed at the destination;receive, at the first autonomous vehicle, from a second autonomous vehicle, a first planned path associated with the second autonomous vehicle, the first planned path associated with the second autonomous vehicle being from at least a current position of the second autonomous vehicle to the destination and being based, at least in part, on the current position of the second autonomous vehicle and a mission requirement assigned to the second autonomous vehicle to be performed at the destination;after the first planned path associated with the second autonomous vehicle is received, generate, at the first autonomous vehicle, a second planned path to the destination based, at least in part, on the first planned path associated with the second autonomous vehicle and the mission requirement assigned to the first autonomous vehicle;transmit the second planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle; and receive, at the first autonomous vehicle, from the second autonomous vehicle, a second planned path associated with the second autonomous vehicle to the destination such that the first autonomous vehicle performs the mission requirement assigned to the first autonomous vehicle at the destination while the second autonomous vehicle performs the mission requirement assigned to the second autonomous vehicle at the destination, the second planned path associated with the second autonomous vehicle differing from the first planned path associated with the second autonomous vehicle. 2. The non-transitory processor-readable medium of claim 1, wherein the mission requirement assigned to the first autonomous vehicle is a first mission requirement, the code further comprising code to cause the processor to: receive, at the first autonomous vehicle, a second mission requirement assigned to the first autonomous vehicle to replace the first mission requirement; andgenerate, at the first autonomous vehicle, a third planned path based, at least in part, on the current position of the first autonomous vehicle and the second mission requirement. 3. The non-transitory processor-readable medium of claim 1, the code further comprising code to cause the processor to: determine, at the first autonomous vehicle, a future position of the first autonomous vehicle along the second planned path of the first autonomous vehicle; andwhen the future position of the first autonomous vehicle is within a predetermined distance of a future position of the second autonomous vehicle along the second planned path associated with the second autonomous vehicle during a future period of time, generate a third planned path for the first autonomous vehicle to avoid a close encounter with the second autonomous vehicle during the future period of time, the third planned path of the first autonomous vehicle not placing the first autonomous vehicle within the predetermined distance of the future position of the second autonomous vehicle at any point along the third planned path of the first autonomous vehicle. 4. The non-transitory processor-readable medium of claim 1, the code further comprising code to cause the processor to: receive, at the first autonomous vehicle, from a third autonomous vehicle, a planned path associated with the third autonomous vehicle,the code to generate the second planned path including code to generate the second planned path of the first autonomous vehicle based, at least in part, on the first planned path associated with the second autonomous vehicle, the planned path associated with the third autonomous vehicle, and at least one of the mission requirement assigned to the first autonomous vehicle or the first planned path of the first autonomous vehicle. 5. The non-transitory processor-readable medium of claim 1, the code further comprising code to cause the processor to: receive, at the first autonomous vehicle, from the second autonomous vehicle, a third planned path associated with the second autonomous vehicle when the second autonomous vehicle is unable to follow the second planned path due to at least one of an environmental factor or an equipment failure associated with the second autonomous vehicle;generate, at the first autonomous vehicle, a third planned path based on the third planned path associated with the second autonomous vehicle and at least one of the mission requirement assigned to the first autonomous vehicle or the second planned path of the first autonomous vehicle; andtransmit the third planned path from the first autonomous vehicle to the second autonomous vehicle. 6. The non-transitory processor-readable medium of claim 1, wherein the second planned path associated with the second autonomous vehicle differs from the first planned path associated with the second autonomous vehicle based, at least in part, on the second planned path for the first autonomous vehicle. 7. The non-transitory processor-readable medium of claim 1, wherein the second planned path of the first autonomous vehicle incorporates at least one of an evasive horizontal profile, a temporary altitude adjustment, or a temporary speed adjustment into the first planned path. 8. The non-transitory processor-readable medium of claim 1, wherein the code to generate the second planned path of the first autonomous vehicle avoids a projected collision with the second autonomous vehicle at a future location along the first planned path. 9. The non-transitory processor-readable medium of claim 1, wherein the mission requirement assigned to the first autonomous vehicle includes at least one of an instruction to orbit around a location of a target, an instruction to attack a target, an instruction to provide laser designation of a target, an instruction to taxi at an airfield, or an instruction to navigate to a designated location. 10. The non-transitory processor-readable medium of claim 1, the code further comprising code to cause the processor to: retransmit data associated with the second planned path of the first autonomous vehicle to compensate for the possibility that the data associated with the second planned path of the first autonomous vehicle transmitted via the code to transmit the second planned path was not received by the second autonomous vehicle. 11. The non-transitory processor-readable medium of claim 1, the code further comprising code to cause the processor to: control a movement of the first autonomous vehicle such that the first autonomous vehicle follows the first planned path, the code to control being autarchically performed by the first autonomous vehicle. 12. The non-transitory processor-readable medium of claim 1, wherein the mission requirement assigned to the second autonomous vehicle includes at least one of an instruction to provide jamming measures in a target area, an instruction to provide air support, an instruction to provide a communications link, an instruction to provide intelligence for one or more autonomous vehicles, an instruction to locate an object, an instruction to navigate to a designated location, or an instruction to monitor a target area. 13. The non-transitory processor-readable medium of claim 1, wherein the first autonomous vehicle is one of unmanned, optionally piloted, or robotic and one of an aerial vehicle, a surface vehicle, a space vehicle, or a sea vehicle. 14. The non-transitory processor-readable medium of claim 1, wherein the mission requirement assigned to the first autonomous vehicle is different from the mission requirement assigned to the second autonomous vehicle. 15. The non-transitory processor-readable medium of claim 1, wherein the first planned path of the first autonomous vehicle includes a sequence of smoothly connecting arc segments and line segments. 16. A non-transitory processor-readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to: generate, at a first autonomous vehicle, a planned path based, at least in part, on a mission requirement assigned to the first autonomous vehicle, the first autonomous vehicle having a first rank;receive, at the first autonomous vehicle, from a second autonomous vehicle, a first planned path associated with the second autonomous vehicle based, at least in part, on a mission requirement assigned to the second autonomous vehicle, the second autonomous vehicle having a second rank, lower than the first rank, the mission requirement assigned to the second autonomous vehicle different from the mission requirement assigned to the first autonomous vehicle;transmit the planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle; andafter the planned path of the first autonomous vehicle is transmitted, receive, at the first autonomous vehicle, from the second autonomous vehicle, a second planned path associated with the second autonomous vehicle, the second planned path associated with the second autonomous vehicle based, at least in part, on the planned path of the first autonomous vehicle, the mission requirement assigned to the second autonomous vehicle and the first rank. 17. The non-transitory processor-readable medium of claim 16, wherein the first autonomous vehicle operates cooperatively with the second autonomous vehicle so that the first autonomous vehicle performs the mission requirement assigned to the first autonomous vehicle and the second autonomous vehicle performs the mission requirement assigned to the second autonomous vehicle. 18. The non-transitory processor-readable medium of claim 16, wherein the code to generate the planned path of the first autonomous vehicle includes code to generate the planned path based, at least in part, on the mission requirement assigned to the first autonomous vehicle and the first rank. 19. The non-transitory processor-readable medium of claim 16, wherein the planned path of the first autonomous vehicle is a first planned path of the first autonomous vehicle, the code further comprising code to cause the processor to: generate, at the first autonomous vehicle, a second planned path based, at least in part, on the mission requirement assigned to the first autonomous vehicle and the second planned path associated with the second autonomous vehicle. 20. The non-transitory processor-readable medium of claim 16, wherein the mission requirement assigned to the first autonomous vehicle is a first mission requirement, the planned path of the first autonomous vehicle is a first planned path, the code further comprising code to cause the processor to: receive, at the first autonomous vehicle, a second mission requirement assigned to the first autonomous vehicle to replace the first mission requirement; andgenerate, at the first autonomous vehicle, a second planned path based, at least in part, on the second mission requirement and the first rank. 21. The non-transitory processor-readable medium of claim 16, wherein the planned path of the first autonomous vehicle is a first planned path, the code further comprising code to cause the processor to: receive, at the first autonomous vehicle, from a third autonomous vehicle, a planned path associated with the third autonomous vehicle, the third autonomous vehicle having a third rank greater than the first rank;generate, at the first autonomous vehicle, a second planned path based, at least in part, on the mission requirement assigned to the first autonomous vehicle and the planned path associated with the third autonomous vehicle; andafter the second planned path is generated, transmit the second planned path of the first autonomous vehicle to the second autonomous vehicle and the third autonomous vehicle. 22. The non-transitory processor-readable medium of claim 16, wherein the planned path of the first autonomous vehicle is a first planned path, the code further comprising code to cause the processor to: prevent the first autonomous vehicle from generating a second planned path based on the second planned path associated with the second autonomous vehicle because the first rank is greater than the second rank. 23. The non-transitory processor-readable medium of claim 16, wherein the mission requirement assigned to the first autonomous vehicle or the second autonomous vehicle includes at least one of an instruction to orbit around a location of a target, an instruction to attack a target, an instruction to provide laser designation of a target, an instruction to taxi at an airfield, or an instruction to navigate to a designated location. 24. The non-transitory processor-readable medium of claim 16, wherein the mission requirement assigned to the first autonomous vehicle or the second autonomous vehicle includes at least one of an instruction to provide jamming measures in a target area, an instruction to provide air support, an instruction to provide a communications link, an instruction to provide intelligence for one or more autonomous vehicles, an instruction to locate an object, an instruction to navigate to a designated location or an instruction to monitor a target area. 25. The non-transitory processor-readable medium of claim 16, wherein the first autonomous vehicle is one of unmanned, optionally piloted, or robotic and one of an aerial vehicle, a surface vehicle, a space vehicle, or a sea vehicle. 26. A non-transitory processor-readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to: generate, at a first autonomous vehicle, a first planned path based, at least in part, on a mission requirement assigned to the first autonomous vehicle, the first autonomous vehicle having an assigned first rank when the first planned path of the first autonomous vehicle is generated;receive, at the first autonomous vehicle, from a second autonomous vehicle having an assigned second rank, a planned path associated with the second autonomous vehicle based, at least in part, on a mission requirement assigned to the second autonomous vehicle and the second rank, the assigned second rank being higher than the assigned first rank;after the planned path associated with the second autonomous vehicle is received, generate, at the first autonomous vehicle, a second planned path based, at least in part, on the planned path associated with the second autonomous vehicle, the assigned first rank, and the mission requirement assigned to the first autonomous vehicle; andtransmit the second planned path from the first autonomous vehicle to the second autonomous vehicle such that the first autonomous vehicle operates cooperatively with the second autonomous vehicle to perform the mission requirement assigned to the first autonomous vehicle. 27. The non-transitory processor-readable medium of claim 26, the code further comprising code to cause the processor to: determine, at the first autonomous vehicle, a future position of the first autonomous vehicle along the second planned path of the first autonomous vehicle at a future period of time;determine, at the first autonomous vehicle, a future position of the second autonomous vehicle along the planned path associated with the second autonomous vehicle at the future period of time;when the future position of the first autonomous vehicle is within a predetermined distance of the future position of the second autonomous vehicle during the future period of time, generate a third planned path for the first autonomous vehicle to avoid a close encounter with the second autonomous vehicle during the future period of time, the third planned path not placing the first autonomous vehicle within the predetermined distance of the future position of the second autonomous vehicle at any point along the third planned path of the first autonomous vehicle; andafter the third planned path is generated, transmit the third planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle. 28. The non-transitory processor-readable medium of claim 26, wherein the second planned path of the first autonomous vehicle incorporates at least one of a velocity adjustment, an altitude adjustment, or a horizontal profile adjustment into the first planned path of the first autonomous vehicle. 29. The non-transitory processor-readable medium of claim 26, the code further comprising code to cause the processor to: after the planned path associated with the second autonomous vehicle is received, determine, at the first autonomous vehicle, a future position of the second autonomous vehicle along the planned path associated with the second autonomous vehicle;when the future position of the second autonomous vehicle is within a predetermined distance of a future position of the first autonomous vehicle during a future period of time, generate a third planned path for the first autonomous vehicle to avoid a close encounter with the second autonomous vehicle during the future period of time, the third planned path not placing the first autonomous vehicle within the predetermined distance of the future position of the second autonomous vehicle at any point along the third planned path of the first autonomous vehicle; andafter the third planned path is generated, transmit the third planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle. 30. The non-transitory processor-readable medium of claim 26, the code further comprising code to cause the processor to: receive, at the first autonomous vehicle, from a third autonomous vehicle, a planned path associated with the third autonomous vehicle, the third autonomous vehicle having an assigned third rank greater than the assigned first rank;generate, at the first autonomous vehicle, a third planned path based, at least in part, on the planned path associated with the third autonomous vehicle and at least one of the mission requirement assigned to the first autonomous vehicle or the second planned path; andafter the third planned path is generated, transmit the third planned path to the second autonomous vehicle and the third autonomous vehicle.