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公开(公告)号：US11835953B2
公开(公告)日：2023-12-05
申请号：US17814408
申请日：2022-07-22
Applicant: Aurora Flight Sciences Corporation
Inventor： Jason Ryan , Jeffery Saunders
IPC: B64C39/02 , G08G5/00 , G08G5/02 , G05D1/00 , G05B19/42 , B64C13/18 , B64D31/06 , G05B19/042 , G05D1/10 , B64U10/10 , B64U10/25
CPC classification number: G05D1/0088 , B64C13/18 , B64C39/024 , B64D31/06 , G05B19/042 , G05D1/0016 , G05D1/101 , B64U10/10 , B64U10/25 , B64U2201/10 , B64U2201/20 , G05B2219/25347
Abstract: An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list. The task execution module may be configured to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.
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公开(公告)号：US11808578B2
公开(公告)日：2023-11-07
申请号：US16888237
申请日：2020-05-29
Applicant: Aurora Flight Sciences Corporation
Inventor： John B. Wissler , Jeffery Saunders
CPC classification number: G01C21/20 , G06N3/08 , G06N7/01 , G06V10/48 , G06V20/13 , G08G5/0021 , G08G5/0039 , G08G5/0047 , G08G5/0086
Abstract: A method, an apparatus, system, and computer program product for navigating an aircraft. Information indicative of a result of a scan of an environment around the aircraft is received by a computer system for landmarks. Bearings of the landmarks and locations of the landmarks are determined by the computer system. A current position of the aircraft is estimated by the computer system using the bearings of the landmarks and the locations of the landmarks. A set of actions to be performed is determined to guide the aircraft based on the current position of the aircraft is performed by the computer system.
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公开(公告)号：US20220036745A1
公开(公告)日：2022-02-03
申请号：US17148185
申请日：2021-01-13
Inventor： Carter Durno , Jeffery Saunders , William R. Bosworth
Abstract: A method is provided for supporting a robot in response to a contingency event. The method includes detecting the contingency event during travel of the robot on a route to a destination. In response, the method includes determining a position of the robot, and accessing information about alternate destinations associated with the route. The method includes selecting an alternate destination from the alternate destinations based on a time to travel from the position of the robot to the alternate destination, and the information. And the method includes outputting an indication of the alternate destination for use in at least one of guidance, navigation or control of the robot to the alternate destination.
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公开(公告)号：US20250118213A1
公开(公告)日：2025-04-10
申请号：US18946088
申请日：2024-11-13
Inventor： Carter Durno , Jeffery Saunders , William R. Bosworth
Abstract: A method is provided for supporting a robot in response to a contingency event. The method includes detecting the contingency event during travel of the robot on a route to a destination. In response, the method includes determining a position of the robot, and accessing information about alternate destinations associated with the route. The method includes selecting an alternate destination from the alternate destinations based on a time to travel from the position of the robot to the alternate destination, and the information. And the method includes outputting an indication of the alternate destination for use in at least one of guidance, navigation or control of the robot to the alternate destination.
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公开(公告)号：US12165529B2
公开(公告)日：2024-12-10
申请号：US17148185
申请日：2021-01-13
Applicant: Aurora Flight Sciences Corporation
Inventor： Carter Durno , Jeffery Saunders , William R. Bosworth
IPC: G08G5/00 , G01C21/34 , G06F18/2413 , G08G1/0968 , G08G5/02 , G05D1/00
Abstract: A method is provided for supporting a robot in response to a contingency event. The method includes detecting the contingency event during travel of the robot on a route to a destination. In response, the method includes determining a position of the robot, and accessing information about alternate destinations associated with the route. The method includes selecting an alternate destination from the alternate destinations based on a time to travel from the position of the robot to the alternate destination, and the information. And the method includes outputting an indication of the alternate destination for use in at least one of guidance, navigation or control of the robot to the alternate destination.
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Patent Agency Ranking
公开(公告)号：US11557210B2
公开(公告)日：2023-01-17
申请号：US16951621
申请日：2020-11-18
Inventor： Jeffery Saunders
Abstract: The present disclosure is directed to systems and methods for trajectory and route planning including obstacle detection and avoidance for an aerial vehicle. For example, an aerial vehicle's flight control system may include a trajectory planner that may use short segments calculated using an iterative Dubins path to find a first path between a start point and an end point that does not avoid obstacles. Then the trajectory planner may use a rapidly exploring random tree algorithm that uses points along the first path as seed points to find a trajectory or route between the start point and end point that avoids known or detected obstacles.
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公开(公告)号：US20220035372A1
公开(公告)日：2022-02-03
申请号：US17148141
申请日：2021-01-13
Inventor： Jeffery Saunders , Alfredo Giuliano
IPC: G05D1/00
Abstract: A method and corresponding apparatus and computer-readable storage medium are provided for causing one or more robots to execute a mission. The method includes identifying the mission including a nominal sequence of selected tasks that are executable to cause the one or more robots to execute maneuvers to achieve a mission objective. The method includes determining a task graph in which the mission is modeled. The task graph is expressed as a directed graph and includes selected task nodes representing the selected tasks that are connected by edges representing transitions between the selected tasks. The method also includes causing the one or more robots to execute the mission using the task graph and a task library of tasks including a selected task executable to cause the one or more robots to execute a maneuver.
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公开(公告)号：US20190324456A1
公开(公告)日：2019-10-24
申请号：US15957003
申请日：2018-04-19
Applicant: Aurora Flight Sciences Corporation
Inventor： Jason Ryan , Jeffery Saunders
Abstract: An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list. The task execution module may be configured to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.
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公开(公告)号：US20180135798A1
公开(公告)日：2018-05-17
申请号：US15816107
申请日：2017-11-17
Applicant: Aurora Flight Sciences Corporation
Inventor： Riley Griffin , Jeffery Saunders
CPC classification number: F16M13/02 , B64C39/024 , B64C2201/123 , B64C2201/127 , B64D47/08 , F16M11/18 , F16M11/2007 , F16M2200/04 , G05B6/02
Abstract: A gimbal stabilizing system for an aircraft having an airframe is disclosed. The gimbal stabilizing system may comprise a gimbal apparatus having at least one gimbal actuator to adjust a position of the gimbal apparatus about an axis, wherein the gimbal apparatus is positioned on the airframe, an angular acceleration apparatus positioned on the airframe to generate an angular acceleration signal reflecting an angular acceleration of the airframe, and a gimbal controller operatively coupled to each of said angular acceleration apparatus and said gimbal apparatus. The gimbal controller may be configured to generate a gimbal control signal to compensate for the angular acceleration of the airframe based at least in part on a feedback control loop and a feedforward control loop, the feedforward control loop having the angular acceleration signal as an input thereto. The gimbal controller may be further configured to output the gimbal control signal to said gimbal apparatus to adjust a position of the gimbal apparatus.
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公开(公告)号：US12190741B2
公开(公告)日：2025-01-07
申请号：US17573085
申请日：2022-01-11
Inventor： Margaret Reagan , Jeffery Saunders , William R. Bosworth
Abstract: A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing a trajectory of the robot on the current route of the robot, and a predicted trajectory of a nearby moving object, and from the trajectory and predicted trajectory, detecting a conflict between the robot and the nearby moving object. Alternate routes for the robot are determined, each of which includes an alternative route segment offset from the current route, and a transition segment from the current route to the alternative route segment. Routes including the current and alternative routes are evaluated according to a cost metric, and a route from the routes is selected for use in at least one of guidance, navigation or control of the robot to avoid the conflict.
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