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公开(公告)号：US09201426B1
公开(公告)日：2015-12-01
申请号：US14183771
申请日：2014-02-19
Applicant: Google Inc.
Inventor： Keith Allen Bonawitz
Abstract: Methods and systems for reverse-iterating a backward planner determining trajectories for vehicles of a fleet of vehicles are provided. In one example an iterator configured for recursively determining the contingency tables at successive time steps in a computational iteration order from a target time to an initial time is caused to reverse-generate the contingency tables in an order from the initial time to the target time. Reverse-generation is caused by recursively: (i) subdividing a sequence of time steps by a factor of at least two into successively smaller sub-sequences, (ii) iterating in a computational iteration order over each recursively subdivided sub-sequence, and (iii) generating a contingency table closest in time to the initial time for the recursive iteration over each recursively subdivided sub-sequence.
Abstract translation: 提供了用于反向迭代用于确定车队车辆的轨迹的向后计划器的方法和系统。 在一个示例中，使得被配置为在从目标时间到初始时间的计算迭代次序中的连续时间步骤递归地确定偶然事件表的迭代器被引起以从初始时间到目标时间的顺序反向生成应急表。 反向产生是由递归引起的：（i）将时间序列序列至少二分之一分成连续较小的子序列，（ii）以每个递归细分子序列的计算迭代次序迭代，和 iii）在每个递归细分的子序列上生成与时间上最接近于递归迭代的初始时间的应急表。
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2.发明申请公开(公告)号：US20150194058A1
公开(公告)日：2015-07-09
申请号：US14664872
申请日：2015-03-22
Applicant: Google Inc.
Inventor： Keith Allen Bonawitz , Adrien Treuille
IPC: G08G5/00
CPC classification number: G08G5/0034 , B64B1/58 , B64B1/60 , B64C2201/022 , B64C2201/122 , G05D1/104 , G06Q10/047 , G08G1/20 , G08G1/202 , G08G5/0043 , G08G5/0069 , G08G5/0091 , H04B7/18504
Abstract: Methods and systems for determining trajectories for vehicles of a fleet of vehicles are provided. In one example, a method comprises receiving an initial location of one or more vehicles, and receiving a sequence of coverage requirements for a region and an associated period of time. The region may be divided into a plurality of landmarks and the period of time may be divided into a plurality of phases. The method also comprises determining for each of one or more phases and at least one respective landmark, a set of starting landmarks from which a vehicle could reach the respective landmark during the phase. The method further comprises determining which respective landmark that the vehicle should travel to during the one or more phases based on the sequence of coverage requirements and the set of starting landmarks for the one or more phases and the at least one respective landmark.
Abstract translation: 提供了用于确定车队车辆轨迹的方法和系统。 在一个示例中，一种方法包括接收一个或多个车辆的初始位置，以及接收一个区域和相关时间段的覆盖要求序列。 该区域可以被划分为多个地标，并且该时间段可以被分成多个阶段。 该方法还包括确定一个或多个相位中的每一个以及至少一个相应的标记，一组起始地标，在该阶段期间车辆可从该起始地标到达相应的地标。 所述方法还包括基于所述一个或多个相位和所述至少一个相应地标的覆盖要求序列和所述一组起始地标来确定所述车辆在所述一个或多个阶段期间应该行进到哪个相应的标记。
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公开(公告)号：US09275551B2
公开(公告)日：2016-03-01
申请号：US14664872
申请日：2015-03-22
Applicant: Google Inc.
Inventor： Keith Allen Bonawitz , Adrien Treuille
CPC classification number: G08G5/0034 , B64B1/58 , B64B1/60 , B64C2201/022 , B64C2201/122 , G05D1/104 , G06Q10/047 , G08G1/20 , G08G1/202 , G08G5/0043 , G08G5/0069 , G08G5/0091 , H04B7/18504
Abstract: Methods and systems for determining trajectories for vehicles of a fleet of vehicles are provided. In one example, a method comprises receiving an initial location of one or more vehicles, and receiving a sequence of coverage requirements for a region and an associated period of time. The region may be divided into a plurality of landmarks and the period of time may be divided into a plurality of phases. The method also comprises determining for each of one or more phases and at least one respective landmark, a set of starting landmarks from which a vehicle could reach the respective landmark during the phase. The method further comprises determining which respective landmark that the vehicle should travel to during the one or more phases based on the sequence of coverage requirements and the set of starting landmarks for the one or more phases and the at least one respective landmark.
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4.发明授权公开(公告)号：US09014957B2
公开(公告)日：2015-04-21
申请号：US13730867
申请日：2012-12-29
Applicant: Google Inc.
Inventor： Keith Allen Bonawitz , Adrien Treuille
CPC classification number: G08G5/0034 , B64B1/58 , B64B1/60 , B64C2201/022 , B64C2201/122 , G05D1/104 , G06Q10/047 , G08G1/20 , G08G1/202 , G08G5/0043 , G08G5/0069 , G08G5/0091 , H04B7/18504
Abstract: Methods and systems for determining trajectories for vehicles of a fleet of vehicles are provided. In one example, a method comprises receiving an initial location of one or more vehicles, and receiving a sequence of coverage requirements for a region and an associated period of time. The region may be divided into a plurality of landmarks and the period of time may be divided into a plurality of phases. The method also comprises determining for each of one or more phases and at least one respective landmark, a set of starting landmarks from which a vehicle could reach the respective landmark during the phase. The method further comprises determining which respective landmark that the vehicle should travel to during the one or more phases based on the sequence of coverage requirements and the set of starting landmarks for the one or more phases and the at least one respective landmark.
Abstract translation: 提供了用于确定车队车辆轨迹的方法和系统。 在一个示例中，一种方法包括接收一个或多个车辆的初始位置，以及接收一个区域和相关时间段的覆盖要求序列。 该区域可以被划分为多个地标，并且该时间段可以被分成多个阶段。 该方法还包括确定一个或多个相位中的每一个以及至少一个相应的标记，一组起始地标，在该阶段期间车辆可从该起始地标到达相应的地标。 所述方法还包括基于所述一个或多个相位和所述至少一个相应地标的覆盖要求序列和所述一组起始地标来确定所述车辆在所述一个或多个阶段期间应该行进到哪个相应的标记。
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5.发明申请公开(公告)号：US20140188377A1
公开(公告)日：2014-07-03
申请号：US13730867
申请日：2012-12-29
Applicant: Google Inc.
Inventor： Keith Allen Bonawitz , Adrien Treuille
IPC: G08G5/00
CPC classification number: G08G5/0034 , B64B1/58 , B64B1/60 , B64C2201/022 , B64C2201/122 , G05D1/104 , G06Q10/047 , G08G1/20 , G08G1/202 , G08G5/0043 , G08G5/0069 , G08G5/0091 , H04B7/18504
Abstract: Methods and systems for determining trajectories for vehicles of a fleet of vehicles are provided. In one example, a method comprises receiving an initial location of one or more vehicles, and receiving a sequence of coverage requirements for a region and an associated period of time. The region may be divided into a plurality of landmarks and the period of time may be divided into a plurality of phases. The method also comprises determining for each of one or more phases and at least one respective landmark, a set of starting landmarks from which a vehicle could reach the respective landmark during the phase. The method further comprises determining which respective landmark that the vehicle should travel to during the one or more phases based on the sequence of coverage requirements and the set of starting landmarks for the one or more phases and the at least one respective landmark.
Abstract translation: 提供了用于确定车队车辆轨迹的方法和系统。 在一个示例中，一种方法包括接收一个或多个车辆的初始位置，以及接收一个区域和相关时间段的覆盖要求序列。 该区域可以被划分为多个地标，并且该时间段可以被分成多个阶段。 该方法还包括确定一个或多个相位中的每一个以及至少一个相应的标记，一组起始地标，在该阶段期间车辆可从该起始地标到达相应的地标。 所述方法还包括基于所述一个或多个相位和所述至少一个相应地标的覆盖要求序列和所述一组起始地标来确定所述车辆在所述一个或多个阶段期间应该行进到哪个相应的标记。
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Patent Agency Ranking
公开(公告)号：US09550558B1
公开(公告)日：2017-01-24
申请号：US15088372
申请日：2016-04-01
Applicant: Google Inc.
Inventor： Johan Mathe , C. O. Lee Boyce, Jr. , Keith Allen Bonawitz
Abstract: This disclosure relates to the use of an optimal altitude controller for super pressure aerostatic balloon in connection with a balloon network. The aerostatic balloon includes a bladder containing a gas that is lighter than the air present in the environment of the balloon. Additionally, the aerostatic balloon includes an envelope filled with air. A mass-changing unit configured to selectively add or remove air may control the amount of air in the envelope. Further, the balloon has a communication module configured to transmit data relating to a current balloon state, and receives data relating to a desired balloon state. Additionally, the balloon includes a processor configured to control the mass-changing unit based on the desired balloon state. The mass-changing unit of the aerostatic balloon may be powered by a renewable energy source, such as solar power. The mass-changing unit adds or removes air with an impeller.
Abstract translation: 本公开涉及一种与气球网络相关联的用于超压空气静力气球的最佳高度控制器。 空气静力气球包括一个气囊，该气囊比气囊环境中存在的空气轻。 此外，空气静气球包括充满空气的信封。 配置为选择性地添加或去除空气的质量变化单元可以控制外壳中的空气量。 此外，气球具有被配置为发送与当前气球状态相关的数据的通信模块，并且接收与期望气球状态有关的数据。 另外，气球包括配置成基于期望的气球状态来控制质量变化单元的处理器。 空气静气球的质量改变单元可以由可再生能源（例如太阳能发电）供电。 质量改变单元用叶轮增加或去除空气。
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7.发明授权Methods and systems for determining fleet trajectories with phase-skipping to satisfy a sequence of coverage requirements 有权用于确定车队轨迹的方法和系统，具有跳过以满足覆盖要求的序列公开(公告)号：US08849571B1
公开(公告)日：2014-09-30
申请号：US13726697
申请日：2012-12-26
Applicant: Google Inc.
Inventor： Keith Allen Bonawitz , Bradley James Rhodes
CPC classification number: G06Q10/047 , G01C21/00 , G08G1/202 , H04B7/18504
Abstract: Methods and systems for determining trajectories for a fleet of vehicles are provided. In one example, a method comprises receiving an initial location of one or more vehicles, and receiving a sequence of coverage requirements for a region and an associated period of time. The method also comprises determining, for each of one or more phases, single-phase landmarks that a vehicle could travel to over the duration of the phase, and determining for at least one of the one or more phases, phase-skipping landmarks that a vehicle could travel to over the duration of multiple phases. The method further comprises determining which landmarks of the single-phase landmarks and phase-skipping landmarks that a vehicle should travel to based on the initial locations of the one or more vehicles and the sequence of coverage requirements.
Abstract translation: 提供了用于确定车队车辆轨迹的方法和系统。 在一个示例中，一种方法包括接收一个或多个车辆的初始位置，以及接收一个区域和相关时间段的覆盖要求序列。 该方法还包括为一个或多个阶段中的每个阶段确定车辆可能在该阶段的持续时间内行进的单相地标，以及确定一个或多个阶段中的至少一个阶段，跳过地标 车辆可以在多个阶段的持续时间内行驶。 该方法还包括基于一个或多个车辆的初始位置和覆盖要求序列来确定车辆应该行驶的单相地标的哪些地标和相移跳跃地标。
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公开(公告)号：US09327816B1
公开(公告)日：2016-05-03
申请号：US13899363
申请日：2013-05-21
Applicant: Google Inc.
Inventor： Johan Mathe , C. O. Lee Boyce, Jr. , Keith Allen Bonawitz
IPC: B64B1/44
Abstract: This disclosure relates to the use of an optimal altitude controller for super pressure aerostatic balloon in connection with a balloon network. The aerostatic balloon includes a bladder containing a gas that is lighter than the air present in the environment of the balloon. Additionally, the aerostatic balloon includes an envelope filled with air. A mass-changing unit configured to selectively add or remove air may control the amount of air in the envelope. Further, the balloon has a communication module configured to transmit data relating to a current balloon state, and receives data relating to a desired balloon state. Additionally, the balloon includes a processor configured to control the mass-changing unit based on the desired balloon state. The mass-changing unit of the aerostatic balloon may be powered by a renewable energy source, such as solar power. The mass-changing unit adds or removes air with an impeller.
Abstract translation: 本公开涉及一种与气球网络相关联的用于超压空气静力气球的最佳高度控制器。 空气静力气球包括一个气囊，该气囊比气囊环境中存在的空气轻。 此外，空气静气球包括充满空气的信封。 配置为选择性地添加或去除空气的质量变化单元可以控制外壳中的空气量。 此外，气球具有被配置为发送与当前气球状态相关的数据的通信模块，并且接收与期望气球状态有关的数据。 另外，气球包括配置成基于期望的气球状态来控制质量变化单元的处理器。 空气静气球的质量改变单元可以由可再生能源（例如太阳能发电）供电。 质量改变单元用叶轮增加或去除空气。
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公开(公告)号：US09148215B1
公开(公告)日：2015-09-29
申请号：US14097621
申请日：2013-12-05
Applicant: Google Inc.
Inventor： Keith Allen Bonawitz
CPC classification number: H04B7/18506
Abstract: This disclosure relates to the use of a method for determining communication timing of an aerial vehicle, such as a balloon. The method includes determining a trajectory of an aerial vehicle. Additionally, the method includes, based on the trajectory, determining a transmission trigger for a location-report message such that a location-report message transmission that is responsive to the transmission trigger has at least a predefined probability of occurring before the aerial vehicle contacts the ground. Further, the method also includes, responsive to the transmission trigger, transmitting the location-report message, where the location-report message comprises location data from the aerial vehicle.
Abstract translation: 本公开涉及用于确定诸如气球的航空器的通信定时的方法的使用。 该方法包括确定航空器的轨迹。 另外，该方法基于轨迹确定位置报告消息的传输触发，使得响应于传输触发的位置报告消息传输在空中飞行器接触之前具有至少预定的发生概率 地面。 此外，该方法还包括响应于传输触发，发送位置报告消息，其中位置报告消息包括来自飞行器的位置数据。
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10.发明授权Methods and systems for determining a cyclical fleet plan satisfying a recurring set of coverage requirements 有权确定周期性车队计划的方法和系统，以满足重复的覆盖要求公开(公告)号：US08880326B1
公开(公告)日：2014-11-04
申请号：US13771361
申请日：2013-02-20
Applicant: Google Inc.
Inventor： Keith Allen Bonawitz , Bradley James Rhodes , Dan Piponi , Adrien Treuille
CPC classification number: G08G9/00 , G06Q10/047 , G06Q50/30 , G08G5/00 , G08G5/0034
Abstract: Methods and systems for determining a cyclical pattern of trajectories for a fleet of vehicles are provided. In one example, a method comprises receiving a sequence of coverage requirements for a region and an associated period of time. For each of one or more phases of the period of time, possible routes that a vehicle located at one or more respective landmarks at a beginning of the phase could follow to reach one or more additional landmarks by an end of the phase are determined. Further, a cyclical pattern of trajectories for vehicles of a fleet of vehicles that minimizes a difference between a distribution of the fleet at a beginning of the period of time and a distribution of the fleet at an end of the period of time is determined.
Abstract translation: 提供了用于确定车队的轨迹的周期性模式的方法和系统。 在一个示例中，一种方法包括接收针对区域和相关联的时间段的覆盖要求序列。 对于该时间段的一个或多个阶段中的每一个，确定位于阶段开始处的一个或多个相应地标处的车辆可能在相位结束之后到达一个或多个附加地标的可能路线。 此外，确定车辆车辆的车辆的周期性模式，其使得在一段时间段的开始时的船队分布与在该时间段结束时的船队分布之间的差异最小化。
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