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公开(公告)号：US11994407B2
公开(公告)日：2024-05-28
申请号：US17148164
申请日：2021-01-13
Applicant: AURORA FLIGHT SCIENCES CORPORATION
Inventor： Nathan Otenti , Joseph Chung , Jeffery Saunders
IPC: G01C21/00 , G05D1/00 , G06F17/16 , G06F18/232 , G06V20/13
CPC classification number: G01C21/3826 , G05D1/101 , G06F17/16 , G06F18/232 , G06V20/13
Abstract: A method of supporting robot(s) landing within a ground region is provided. The method includes accessing a map in which the ground region is tessellated into cells covering respective areas of the ground region. Each cell is classified as feasible to indicate a respective area is feasible for landing, or infeasible to indicate the respective area is infeasible for landing. The map is searched for clusters of adjoining cells that are classified as feasible, covering clusters of adjoining areas that define sub-regions within the ground region that are feasible for landing. The sub-regions are ranked according to a cost metric, and one of the sub-regions is selected according to the ranking. A geographic position of the selected sub-region is then output for use in at least one of guidance, navigation or control of the robot(s) to land at the selected sub-region within the ground region.
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公开(公告)号：US20220113742A1
公开(公告)日：2022-04-14
申请号：US17394772
申请日：2021-08-05
Inventor： Jeffery Saunders
Abstract: In an example, a method for controlling a vehicle in a degraded visual environment is provided. The method includes identifying a degraded visual environment corresponding to a phase of a route followed by the vehicle. The method includes determining, based on the phase of the route, a first segment of a trajectory of the vehicle along which to search for a location with an improved navigation environment. The method includes causing the vehicle to follow the first segment until: (i) identifying the improved navigation environment, or (ii) reaching an end of the first segment without identifying the improved navigation environment. The method includes determining a second segment of the trajectory based on whether the improved navigation environment has been identified. The method includes causing the vehicle to follow the second segment.
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公开(公告)号：US20220034681A1
公开(公告)日：2022-02-03
申请号：US17148164
申请日：2021-01-13
Inventor： Nathan Otenti , Joseph Chung , Jeffery Saunders
Abstract: A method of supporting robot(s) landing within a ground region is provided. The method includes accessing a map in which the ground region is tessellated into cells covering respective areas of the ground region. Each cell is classified as feasible to indicate a respective area is feasible for landing, or infeasible to indicate the respective area is infeasible for landing. The map is searched for clusters of adjoining cells that are classified as feasible, covering clusters of adjoining areas that define sub-regions within the ground region that are feasible for landing. The sub-regions are ranked according to a cost metric, and one of the sub-regions is selected according to the ranking. A geographic position of the selected sub-region is then output for use in at least one of guidance, navigation or control of the robot(s) to land at the selected sub-region within the ground region.
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公开(公告)号：US11060658B2
公开(公告)日：2021-07-13
申请号：US15816107
申请日：2017-11-17
Applicant: Aurora Flight Sciences Corporation
Inventor： Riley Griffin , Jeffery Saunders
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：US20240310185A1
公开(公告)日：2024-09-19
申请号：US18673760
申请日：2024-05-24
Inventor： Nathan Otenti , Joseph Chung , Jeffery Saunders
IPC: G01C21/00 , G05D1/46 , G06F17/16 , G06F18/232 , G06V20/13
CPC classification number: G01C21/3826 , G05D1/46 , G06F17/16 , G06F18/232 , G06V20/13
Abstract: A method of supporting robot(s) landing within a ground region is provided. The method includes accessing a map in which the ground region is tessellated into cells covering respective areas of the ground region. Each cell is classified as feasible to indicate a respective area is feasible for landing, or infeasible to indicate the respective area is infeasible for landing. The map is searched for clusters of adjoining cells that are classified as feasible, covering clusters of adjoining areas that define sub-regions within the ground region that are feasible for landing. The sub-regions are ranked according to a cost metric, and one of the sub-regions is selected according to the ranking. A geographic position of the selected sub-region is then output for use in at least one of guidance, navigation or control of the robot(s) to land at the selected sub-region within the ground region.
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Patent Agency Ranking
公开(公告)号：US11550622B2
公开(公告)日：2023-01-10
申请号：US16704326
申请日：2019-12-05
Applicant: Aurora Flight Sciences Corporation
Inventor： Jeffery Saunders
IPC: G06F16/245 , G06F9/48 , G05D1/10 , B64C39/02 , G05D1/00
Abstract: Methods and apparatus are provided for allocating tasks to be performed by one or more autonomous vehicles to achieve a mission objective. Generally, a task allocation system identifies a final task associated with a given mission objective, identifies predecessor tasks necessary to complete the final task, generates one or more candidate tasks sequences to accomplish the mission objective, generates a task allocation tree based on the candidate task sequences, and searches the task allocation tree to find a task allocation plan that meets a predetermined selection criteria (e.g., lowest cost). Based on the task allocation plan, the task allocation system determines a task execution plan and generates control data for controlling one or more autonomous vehicles to complete the task execution plan.
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公开(公告)号：US20220035339A1
公开(公告)日：2022-02-03
申请号：US17148093
申请日：2021-01-13
Inventor： Jeffery Saunders , Benjamin C. Stringer
IPC: G05B19/4155 , G05D1/02
Abstract: A method is provided for causing one or more robots to execute a mission. The method includes determining a behavior tree in which the mission is modeled, and causing the one or more robots to execute the mission using the behavior tree and a leaf node library. The behavior tree is expressed as a directed tree of nodes including a switch node, a trigger node representing a selected task, and action nodes representing others of the tasks. The switch node is connected to the trigger node and the action nodes in a parent-child relationship in which the trigger node and the action nodes are children of the switch node. The trigger node is a first of the children that, when ticked by the switch node, returns an identifier of one of the action nodes to trigger the switch node to next tick the one of the action nodes.
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公开(公告)号：US20200082731A1
公开(公告)日：2020-03-12
申请号：US16578678
申请日：2019-09-23
Applicant: Aurora Flight Sciences Corporation
Inventor： Jae-Woo Choi , Jeffery Saunders , James D. Paduano
Abstract: A system and method for tracking non-cooperative obstacles during operation of a vehicle is provided. The system may include a radar system, an optical sensor, and a processor. The radar system can be coupled to the vehicle and configured to scan a first airspace and generate radar information having a first resolution. The optical sensor can be coupled to the vehicle and configured to image a second airspace and generate optical information at a second resolution that is higher than the first resolution, where the second airspace is within said first airspace and includes a non-cooperative obstacle. The processor can be configured to identify the non-cooperative obstacle within the first airspace based at least in part on the radar information, and direct the optical sensor toward a location of the non-cooperative obstacle using the radar information.
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公开(公告)号：US12286225B2
公开(公告)日：2025-04-29
申请号：US18437022
申请日：2024-02-08
Inventor： Craig John Bonnoit , Jeffery Saunders
IPC: G05D1/693 , B64C39/02 , G01C21/00 , G05D1/00 , G06Q10/047 , G06Q10/0631 , G06Q50/40
Abstract: Techniques for traversing in an environment that includes at least one obstacle, by a mobile autonomous system, to a destination in the environment, are presented. The techniques can include generating, prior to the mobile autonomous system commencing activity in the environment, a graph including a plurality of vertices representing positions in the environment and a plurality of edges between vertices representing feasible transitions by the mobile autonomous vehicle in the environment; annotating the graph with at least one edge connecting a representation of a present position of the mobile autonomous system to a vertex of the graph; determining, based on the graph, a path from the present position of the mobile autonomous system in the environment to the destination; and traversing the environment to the destination, by the mobile autonomous system, based on the path.
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公开(公告)号：US11999479B2
公开(公告)日：2024-06-04
申请号：US17447540
申请日：2021-09-13
Inventor： Craig John Bonnoit , Jeffery Saunders
IPC: G05D1/10 , B64C39/02 , G01C21/00 , G05D1/00 , G06Q10/047 , G06Q10/0631 , G06Q50/30
CPC classification number: B64C39/024 , G01C21/3807 , G05D1/1064 , G06Q10/047 , B64U2201/10 , G06Q10/06313 , G06Q50/30
Abstract: Techniques for traversing in an environment that includes at least one obstacle, by a mobile autonomous system, to a destination in the environment, are presented. The techniques can include generating, prior to the mobile autonomous system commencing activity in the environment, a graph including a plurality of vertices representing positions in the environment and a plurality of edges between vertices representing feasible transitions by the mobile autonomous vehicle in the environment; annotating the graph with at least one edge connecting a representation of a present position of the mobile autonomous system to a vertex of the graph; determining, based on the graph, a path from the present position of the mobile autonomous system in the environment to the destination; and traversing the environment to the destination, by the mobile autonomous system, based on the path.
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