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公开(公告)号：US10676213B2
公开(公告)日：2020-06-09
申请号：US15519999
申请日：2015-10-16
发明人： Xuchu Ding , Jason C. Derenick , Brendan J. Englot , Igor Cherepinsky , Harshad S. Sane , Christopher Stathis
摘要： According to an aspect of the invention, a method of optimal safe landing area determination for an aircraft includes accessing a probabilistic safe landing area map that includes a plurality of probabilistic indicators of safe landing areas for the aircraft. A processing subsystem that includes one or more processing resources generates a list of candidate safe landing areas based on the probabilistic safe landing area map and one or more constraints. At least two of the candidate safe landing areas are provided to a path planner. The list of candidate safe landing areas is ranked based on results from the path planner indicating an estimated cost to reach each of the candidate safe landing areas. Based on the ranking, an indicator of an optimal safe landing area is output as a desired landing location for the aircraft.
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公开(公告)号：US10266279B2
公开(公告)日：2019-04-23
申请号：US15509921
申请日：2015-09-14
摘要： A system and method for identifying a slung load for an aircraft with one or more sensors includes receiving, with a processor via one or more sensors, sensor information related to flight dynamics data for the aircraft; determining, with the processor, control input commands for the aircraft in response to the receiving of the flight dynamics data; determining, with the processor, signals indicative of an estimated pendulum frequency; and determining, with the processor, parameters associated with the slung load in response to the determining of the estimated pendulum frequencies.
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公开(公告)号：US10254768B2
公开(公告)日：2019-04-09
申请号：US15521544
申请日：2015-10-28
摘要： An aspect includes space partitioning for vehicle motion planning. A plurality of obstacle data is analyzed to determine a plurality of obstacle locations in a configuration space of a vehicle. A partitioning of the configuration space is performed to compute a skeletal partition representing a plurality of obstacle boundaries based on the obstacle locations. The skeletal partition is used to preferentially place a plurality of samples by a sampling-based motion planner. At least one obstacle-free path is output by the sampling-based motion planner based on the samples.
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公开(公告)号：US10126750B2
公开(公告)日：2018-11-13
申请号：US15355555
申请日：2016-11-18
发明人： Igor Cherepinsky , Xuchu Ding , Harshad S. Sane
摘要： An aspect includes a method of kinematic motion planning includes accessing a list of a plurality of nodes defining a plurality of potential kinematic path locations between a starting position and an ending position of a vehicle. A plurality of constraint sets is determined that apply one or more vehicle motion constraints based on a plurality of spatial regions defined between the starting position and the ending position. The constraint sets are applied in determining a plurality of connections between the nodes to form a kinematic motion path based on locations of the nodes relative to the spatial regions. The kinematic motion path is output to a dynamic path planner to complete creation of a motion path plan for the vehicle.
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公开(公告)号：US20170336789A1
公开(公告)日：2017-11-23
申请号：US15443823
申请日：2017-02-27
CPC分类号： G05D1/0061 , B64C13/04 , B64C13/16 , G06Q10/0631 , G06Q10/06311
摘要： A system and method for flying an aircraft is disclosed. The system includes one or more flight-assist agents for performing an operation related to flying the aircraft and a vehicle autonomy management system. The vehicle autonomy management system allocates tasks of a task workload involved in the operation between a flight crew and the one or more flight-assist agents, monitors a performance of the flight crew in executing a portion of the task workload allocated to the flight crew, and adjusts an allocation of the task workload between the flight crew and the one or more flight-assist agents based on the performance of the flight crew.
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公开(公告)号：US09620022B2
公开(公告)日：2017-04-11
申请号：US14728660
申请日：2015-06-02
CPC分类号： G08G5/0047 , G01C21/20 , G08G5/0034 , G08G5/0086 , G08G5/0091
摘要： A method of route planning for a vehicle proceeding from a current location to a destination in a planning space is provided. The method includes generating a destination-rooted tree from global information that provides cost-to-go routing to the destination from multiple locations in the planning space, generating a vehicle-rooted tree using local information from the current location out to a sensing horizon and determining a local destination at the sensing horizon. The local destination corresponds to minimal cost-to-go routing obtained from the destination-rooted tree.
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公开(公告)号：US20160048132A1
公开(公告)日：2016-02-18
申请号：US14734537
申请日：2015-06-09
发明人： Igor Cherepinsky , Harshad S. Sane
CPC分类号： G05D1/0808 , B64C2201/141 , G05D1/101 , G05D1/102 , G08G5/0052 , G08G5/0069 , G08G5/0078 , G08G5/0086
摘要： A system and method for controlling flight of an aircraft having a propeller, memory and a processor includes receiving one or more signals indicative of a flight plan comprising a plurality of waypoints; determining information indicative of a trajectory between the plurality of waypoints; determining information indicative of vehicle attitude commands; determining information indicative of flight control command signals; and determining an error between sensed vehicle states and the vehicle attitude commands.
摘要翻译： 用于控制具有螺旋桨，存储器和处理器的飞行器的飞行的系统和方法包括接收指示包括多个航路点的飞行计划的一个或多个信号; 确定指示所述多个航路点之间的航迹的信息; 确定指示车辆姿态命令的信息; 确定指示飞行控制命令信号的信息; 以及确定所感测的车辆状态与车辆姿态命令之间的误差。
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公开(公告)号：US20150151837A1
公开(公告)日：2015-06-04
申请号：US14096534
申请日：2013-12-04
发明人： Harshad S. Sane , Igor Cherepinsky
CPC分类号： B64D1/12 , B64D1/02 , B64D1/22 , G05D1/0858
摘要： Embodiments are directed to obtaining data associated with at least one aircraft flight parameter when an aircraft is being operated in flight; processing the data to determine that the at least one aircraft flight parameter indicates a change in value in an amount greater than a threshold; and decoupling a load from the aircraft based on determining that the at least one aircraft flight parameter indicates the change in value in the amount greater than the threshold.
摘要翻译： 实施例涉及当飞行器在飞行中操作时获得与至少一个飞行器飞行参数相关联的数据; 处理数据以确定所述至少一个飞行器飞行参数指示大于阈值的量的值的变化; 以及基于确定所述至少一个飞行器飞行参数指示大于所述阈值的量的值的变化来从所述飞行器解耦负载。
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公开(公告)号：US10739792B2
公开(公告)日：2020-08-11
申请号：US15557963
申请日：2016-03-10
发明人： Igor Cherepinsky , Harshad S. Sane
摘要： A method of trajectory control for a vehicle includes obtaining an initial trajectory; presenting the initial trajectory as a current trajectory on an I/O device, the current trajectory presented overlaying terrain; initiating travel of the vehicle along the current trajectory; updating the current trajectory and the terrain in real time as the vehicle travels along the current trajectory; determining if change in the current trajectory is required; changing the current trajectory to an altered trajectory in response to determining change in the current trajectory is required; and presenting the altered trajectory on the I/O device, the altered trajectory presented overlaying the terrain.
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10.发明授权公开(公告)号：US10246180B2
公开(公告)日：2019-04-02
申请号：US14717765
申请日：2015-05-20
摘要： A method and system for sharing information between independent agents having a processor and memory having instructions stored thereon that, when executed by the processor, cause the system to receive signals indicative of a fault of a sensor system of a first independent agent; transmit signals indicative of a request for sensor information to a second independent agent; receive signals indicative of state information for the second independent agent in response to the receiving of the request for sensor information; and apply the state information to a navigation system of the first independent agent in response to the receiving of the state information.
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