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

IPC: G08G5/00 ,  G08G9/00

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。

公开(公告)号：US08781727B1

公开(公告)日：2014-07-15

申请号：US13742209

申请日：2013-01-15

Applicant: Google Inc.

Inventor： Keith Allen Bonawitz ,  Dan Piponi

IPC: G01C21/12

CPC classification number: G05D1/104

Abstract: Methods and systems for performing flocking while executing a fleet plan are provided. An example method includes receiving a sequence of coverage requirements for a region and an associated period of time, and determining a respective sequence of intended destinations for each of one or more vehicles of a fleet of vehicles to travel to over the period of time. Additionally, based on a determined sequence of intended destinations for a vehicle of the one or more vehicles and based on a desired spatial relationship between the vehicle and one or more neighboring vehicles for a given time period, a flocking-based direction of travel for the vehicle may be determined for the given time period.

Abstract translation: 提供了在执行车队计划时执行植绒的方法和系统。 示例性方法包括接收对于区域和相关联的时间段的覆盖要求的序列，以及确定车辆队列中的一个或多个车辆中的每一个的期望目的地的相应序列，以在该时间段内行进。 另外，基于一个或多个车辆的车辆的预定目的地的确定顺序，并且基于在给定时间段内车辆与一个或多个相邻车辆之间的期望的空间关系，基于植绒的行进方向为 可以在给定时间段内确定车辆。

公开(公告)号：US20140319271A1

公开(公告)日：2014-10-30

申请号：US14328212

申请日：2014-07-10

Applicant: Google Inc.

Inventor： Richard Wayne DeVaul ,  Eric Teller ,  Clifford L. Biffle ,  Josh Weaver ,  Dan Piponi

IPC: B64B1/44

CPC classification number: B64B1/40 ,  B64B1/44 ,  G05D1/104 ,  G05D1/105 ,  H04B7/18504

Abstract: The positions of balloons in a communication network of balloons, such as a mesh network of high-altitude balloons, may be adjusted relative to one another in order to try to maintain a desired network topology. In one approach, the position of each balloon may be adjusted relative to one or more neighbor balloons. For example, the locations of a target balloon and one or more neighbor balloons may be determined. A desired movement of the target balloon may then be determined based on the locations of the one or more neighbor balloons relative to the location of the target balloon. The target balloon may be controlled based on the desired movement. In some embodiments, the altitude of the target balloon may be controlled in order to expose the target balloon to ambient winds that are capable of producing the desired movement of the target balloon.

公开(公告)号：US20140319270A1

公开(公告)日：2014-10-30

申请号：US14328226

申请日：2014-07-10

Applicant: Google Inc.

Inventor： Richard Wayne DeVaul ,  Eric Teller ,  Clifford L. Biffle ,  Josh Weaver ,  Dan Piponi

IPC: B64B1/40

CPC classification number: B64B1/40 ,  B64B1/44 ,  G05D1/104 ,  G05D1/105 ,  H04B7/18504

Abstract: The positions of balloons in a communication network of balloons, such as a mesh network of high-altitude balloons, may be adjusted relative to one another in order to try to maintain a desired network topology. In one approach, the position of each balloon may be adjusted relative to one or more neighbor balloons. For example, the locations of a target balloon and one or more neighbor balloons may be determined. A desired movement of the target balloon may then be determined based on the locations of the one or more neighbor balloons relative to the location of the target balloon. The target balloon may be controlled based on the desired movement. In some embodiments, the altitude of the target balloon may be controlled in order to expose the target balloon to ambient winds that are capable of producing the desired movement of the target balloon.

Abstract translation: 可以相对于彼此来调整气球通信网络中的气球的位置，例如高空气球的网状网络，以便尝试维持期望的网络拓扑。 在一种方法中，可以相对于一个或多个相邻气球来调节每个球囊的位置。 例如，可以确定目标气球和一个或多个相邻气球的位置。 然后可以基于一个或多个相邻气球相对于目标气球的位置的位置来确定目标气球的期望运动。 可以基于期望的运动来控制目标气球。 在一些实施例中，可以控制目标气球的高度，以便将目标气球暴露于能够产生目标气球的期望运动的环境风中。