CPC G05D 1/12 (2013.01) [B64C 39/024 (2013.01); G05D 1/0094 (2013.01); G05D 1/101 (2013.01); G06T 7/20 (2013.01); H04N 5/272 (2013.01); H04N 23/695 (2023.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01); G06T 2207/30241 (2013.01); G06T 2207/30261 (2013.01)] | 20 Claims |
1. An unmanned aerial vehicle (UAV) configured for autonomous flight through a physical environment, the UAV including:
an application programming interface (API) configured to:
expose parameters of a behavioral objective to a third-party application,
wherein the behavioral objective defines a goal or target affecting autonomous control of the UAV;
process a call received from the third-party application, the call configured to set or modify parameters of the behavioral objective;
transmit an instruction to set or modify the parameters of the behavioral objective in a multi-objective trajectory generation process;
a motion planning system configured to:
set or modify the parameters of the behavioral objective in the multi-objective trajectory generation process responsive to receiving the instruction;
receive perception data based on images of the physical environment;
feed the perception data into the multi-objective trajectory generation process to generate a trajectory that satisfies the behavioral objective in view of another behavioral objective or constraint; and
a flight controller configured to cause the UAV to autonomously maneuver based on the trajectory.
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