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    Objective-based control of an autonomous unmanned aerial vehicle
    27.
    发明授权
    Objective-based control of an autonomous unmanned aerial vehicle 有权

    公开(公告)号：US11048277B1

    公开(公告)日：2021-06-29

    申请号：US16240394

    申请日：2019-01-04

    Applicant: Skydio, Inc.

    Inventor： Jack Louis Zhu ,  Hayk Martirosyan ,  Abraham Bachrach ,  Matthew Donahoe ,  Patrick Lowe ,  Kristen Marie Holtz ,  Adam Bry

    IPC: G05D1/12 ,  G05D1/10 ,  G05D1/00 ,  B64C39/02 ,  G06T7/20 ,  H04N5/272 ,  H04N5/232

    Abstract: A technique is described for controlling an autonomous vehicle such as an unmanned aerial vehicle (UAV) using objective-based inputs. In an embodiment, the underlying functionality of an autonomous navigation system is via an application programming interface (API). In such an embodiment, the UAV can be controlled trough specifying a behavioral objective, for example, using a call to the API to set parameters for the behavioral objective. The autonomous navigation system can then incorporate perception inputs such as sensor data from sensors mounted to the UAV and the set parameters using a multi-objective motion planning process to generate a proposed trajectory that most closely satisfies the behavioral objective in view of certain constraints. In some embodiments, developers can utilize the API to build customized applications for utilizing the UAV to capture images. Such applications, also referred to as “skills,” can be developed, shared, and executed to control the behavior of an autonomous UAV and to aid in overall system improvement.

    IMAGE SPACE MOTION PLANNING OF AN AUTONOMOUS VEHICLE
    29.
    发明申请
    IMAGE SPACE MOTION PLANNING OF AN AUTONOMOUS VEHICLE 审中-公开

    公开(公告)号：US20190050000A1

    公开(公告)日：2019-02-14

    申请号：US15671743

    申请日：2017-08-08

    Applicant: Skydio, Inc.

    Inventor： Ryan Kennedy ,  Peter Henry ,  Hayk Maritrosyan ,  Jack Zhu ,  Abraham Bachrach ,  Adam Bry

    IPC: G05D1/10 ,  G08G5/00 ,  B64C39/02 ,  G06T7/593 ,  G06T17/05

    Abstract: An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.

    USER INTERACTION PARADIGMS FOR A FLYING DIGITAL ASSISTANT
    30.
    发明申请
    USER INTERACTION PARADIGMS FOR A FLYING DIGITAL ASSISTANT 审中-公开

    公开(公告)号：US20180095459A1

    公开(公告)日：2018-04-05

    申请号：US15791230

    申请日：2017-10-23

    Applicant: Skydio, Inc.

    Inventor： Abraham Bachrach ,  Adam Bry ,  Matthew Donahoe

    IPC: G05D1/00 ,  H04N5/00 ,  G06F3/00 ,  B64C39/00

    Abstract: Methods and systems are described for new paradigms for user interaction with an unmanned aerial vehicle (referred to as a flying digital assistant or FDA) using a portable multifunction device (PMD) such as smart phone. In some embodiments, a user may control image capture from an FDA by adjusting the position and orientation of a PMD. In other embodiments, a user may input a touch gesture via a touch display of a PMD that corresponds with a flight path to be autonomously flown by the FDA.

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