AU2013256372B2 - Conflict resolution based on object behavioral determination and collaborative relative positioning - Google Patents

Conflict resolution based on object behavioral determination and collaborative relative positioning Download PDF

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Publication number
AU2013256372B2
AU2013256372B2 AU2013256372A AU2013256372A AU2013256372B2 AU 2013256372 B2 AU2013256372 B2 AU 2013256372B2 AU 2013256372 A AU2013256372 A AU 2013256372A AU 2013256372 A AU2013256372 A AU 2013256372A AU 2013256372 B2 AU2013256372 B2 AU 2013256372B2
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Australia
Prior art keywords
nearby objects
objects
conflicts
conflict resolution
probabilistic
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Expired - Fee Related
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AU2013256372A
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AU2013256372A1 (en
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David J. Bruemmer
Benjamin C. Hardin
Curtis W. Nielsen
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5D Robotics Inc
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5D Robotics Inc
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/693—Coordinated control of the position or course of two or more vehicles for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/041—Function-oriented details
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N7/00—Computing arrangements based on specific mathematical models
    • G06N7/01—Probabilistic graphical models, e.g. probabilistic networks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Probability & Statistics with Applications (AREA)
  • Data Mining & Analysis (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Algebra (AREA)
  • Pure & Applied Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Debugging And Monitoring (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
  • Alarm Systems (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
AU2013256372A 2012-05-01 2013-05-01 Conflict resolution based on object behavioral determination and collaborative relative positioning Expired - Fee Related AU2013256372B2 (en)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US201261641201P 2012-05-01 2012-05-01
US61/641,201 2012-05-01
US201261652347P 2012-05-29 2012-05-29
US61/652,347 2012-05-29
US201361773063P 2013-03-05 2013-03-05
US61/773,063 2013-03-05
US13/873,620 US9235212B2 (en) 2012-05-01 2013-04-30 Conflict resolution based on object behavioral determination and collaborative relative positioning
US13/873,620 2013-04-30
PCT/US2013/038982 WO2013166093A1 (en) 2012-05-01 2013-05-01 Conflict resolution based on object behavioral determination and collaborative relative positioning

Publications (2)

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AU2013256372A1 AU2013256372A1 (en) 2014-11-20
AU2013256372B2 true AU2013256372B2 (en) 2017-08-03

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US (2) US9235212B2 (https=)
EP (1) EP2845069A1 (https=)
JP (1) JP2015522797A (https=)
KR (1) KR20150040796A (https=)
CN (1) CN104685431B (https=)
AU (1) AU2013256372B2 (https=)
CA (1) CA2872419A1 (https=)
IN (1) IN2014DN09691A (https=)
MX (1) MX341062B (https=)
WO (1) WO2013166093A1 (https=)

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US9235212B2 (en) 2016-01-12
CA2872419A1 (en) 2013-11-07
AU2013256372A1 (en) 2014-11-20
MX341062B (es) 2016-08-05
JP2015522797A (ja) 2015-08-06
US20140052293A1 (en) 2014-02-20
WO2013166093A4 (en) 2014-01-03
EP2845069A1 (en) 2015-03-11
WO2013166093A1 (en) 2013-11-07
CN104685431A (zh) 2015-06-03
MX2014013273A (es) 2015-06-17
IN2014DN09691A (https=) 2015-07-31
CN104685431B (zh) 2017-10-10
KR20150040796A (ko) 2015-04-15
US20160202702A1 (en) 2016-07-14

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