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公开(公告)号：US11892858B2
公开(公告)日：2024-02-06
申请号：US17394772
申请日：2021-08-05
Applicant: Aurora Flight Sciences Corporation
Inventor： Jeffery Saunders
Abstract: An example 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：US11797004B2
公开(公告)日：2023-10-24
申请号：US17148141
申请日：2021-01-13
Inventor： Alfredo Giuliano , Jeffery Saunders
IPC: G05D1/00
CPC classification number: G05D1/0088 , G05D1/0027 , G05B2219/32129 , G05B2219/50391
Abstract: A method and corresponding apparatus and computer-readable storage medium are provided for causing one or more robots to execute a mission. The method includes identifying the mission including a nominal sequence of selected tasks that are executable to cause the one or more robots to execute maneuvers to achieve a mission objective. The method includes determining a task graph in which the mission is modeled. The task graph is expressed as a directed graph and includes selected task nodes representing the selected tasks that are connected by edges representing transitions between the selected tasks. The method also includes causing the one or more robots to execute the mission using the task graph and a task library of tasks including a selected task executable to cause the one or more robots to execute a maneuver.
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公开(公告)号：US20220357743A1
公开(公告)日：2022-11-10
申请号：US17814408
申请日：2022-07-22
Inventor： Jason Ryan , Jeffery Saunders
Abstract: An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list. The task execution module may be configured to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.
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公开(公告)号：US20220301440A1
公开(公告)日：2022-09-22
申请号：US17573085
申请日：2022-01-11
Inventor： Margaret Reagan , Jeffery Saunders , William R. Bosworth
Abstract: A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing a trajectory of the robot on the current route of the robot, and a predicted trajectory of a nearby moving object, and from the trajectory and predicted trajectory, detecting a conflict between the robot and the nearby moving object. Alternate routes for the robot are determined, each of which includes an alternative route segment offset from the current route, and a transition segment from the current route to the alternative route segment. Routes including the current and alternative routes are evaluated according to a cost metric, and a route from the routes is selected for use in at least one of guidance, navigation or control of the robot to avoid the conflict.
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公开(公告)号：US11429101B2
公开(公告)日：2022-08-30
申请号：US15957003
申请日：2018-04-19
Applicant: Aurora Flight Sciences Corporation
Inventor： Jason Ryan , Jeffery Saunders
IPC: B64C39/02 , G08G5/00 , G08G5/02 , G05D1/00 , G05B19/42 , B64C13/18 , B64D31/06 , G05B19/042 , G05D1/10
Abstract: An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list. The task execution module may be configured to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.
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Patent Agency Ranking
公开(公告)号：US20210375145A1
公开(公告)日：2021-12-02
申请号：US16888237
申请日：2020-05-29
Inventor： John B. Wissler , Jeffery Saunders
Abstract: A method, an apparatus, system, and computer program product for navigating an aircraft. Information indicative of a result of a scan of an environment around the aircraft is received by a computer system for landmarks. Bearings of the landmarks and locations of the landmarks are determined by the computer system. A current position of the aircraft is estimated by the computer system using the bearings of the landmarks and the locations of the landmarks. A set of actions to be performed is determined to guide the aircraft based on the current position of the aircraft is performed by the computer system.
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公开(公告)号：US11181935B2
公开(公告)日：2021-11-23
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：US11119510B2
公开(公告)日：2021-09-14
申请号：US16524901
申请日：2019-07-29
Inventor： Jeffery Saunders , John F. Langford , Jason T. Jewell
Abstract: In an example, a method of generating flight paths for navigating an aircraft is provided. The method includes hovering the aircraft at a predetermined hover point. The predetermined hover point corresponds to a first takeoff waypoint of a first trajectory of the aircraft. The method includes scanning at least a portion of a first flight path of the first trajectory. The method includes determining that an obstacle obstructs the first flight path of the first trajectory. The first flight path begins at the first takeoff waypoint. The method includes determining a second takeoff waypoint. Determining the second takeoff waypoint includes assigning the first flight path to begin at the second takeoff waypoint. The method includes changing the first flight path of the first trajectory in accordance with the second takeoff waypoint, thereby forming a second flight path of a second trajectory. The method includes causing the aircraft to follow the second flight path of the second trajectory from the second takeoff waypoint.
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公开(公告)号：US20210173700A1
公开(公告)日：2021-06-10
申请号：US16704326
申请日：2019-12-05
Applicant: Aurora Flight Sciences Corporation
Inventor： Jeffery Saunders
IPC: G06F9/48 , G06F16/245 , G05D1/10 , B64C39/02
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：US20210142680A1
公开(公告)日：2021-05-13
申请号：US16951621
申请日：2020-11-18
Applicant: Aurora Flight Sciences Corporation
Inventor： Jeffery Saunders
Abstract: The present disclosure is directed to systems and methods for trajectory and route planning including obstacle detection and avoidance for an aerial vehicle. For example, an aerial vehicle's flight control system may include a trajectory planner that may use short segments calculated using an iterative Dubins path to find a first path between a start point and an end point that does not avoid obstacles. Then the trajectory planner may use a rapidly exploring random tree algorithm that uses points along the first path as seed points to find a trajectory or route between the start point and end point that avoids known or detected obstacles.
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