US 11,790,791 B2
Market based detect and avoid (DAA) solutions
Mohammad Sarim, Cincinnati, OH (US); Matthew Dechering, Cincinnati, OH (US); Mohammadreza Radmanesh, Cincinnati, OH (US); Manish Kumar, Cincinnati, OH (US); and Ravikumar Pragada, Warrington, PA (US)
Assigned to InterDigital Patent Holdings, Inc., Wilmington, DE (US)
Appl. No. 17/52,713
Filed by InterDigital Patent Holdings, Inc., Wilmington, DE (US)
PCT Filed Apr. 26, 2019, PCT No. PCT/US2019/029350
§ 371(c)(1), (2) Date Nov. 3, 2020,
PCT Pub. No. WO2019/212892, PCT Pub. Date Nov. 7, 2019.
Claims priority of provisional application 62/667,061, filed on May 4, 2018.
Prior Publication US 2021/0241634 A1, Aug. 5, 2021
Int. Cl. G08G 5/00 (2006.01); H04L 67/125 (2022.01)
CPC G08G 5/0043 (2013.01) [G08G 5/0013 (2013.01); G08G 5/0021 (2013.01); G08G 5/0073 (2013.01); H04L 67/125 (2013.01); G08G 5/0069 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A detect and avoid method for an unmanned aerial vehicle (UAV) comprising circuitry, the method comprising:
receiving, by the UAV, an environment configuration from a traffic management server, the environment configuration including at least a size of a tessellated grid of cells representative of a conflict zone, a resolution of the grid of cells and a suitable time horizon parameter representative of a required time for conflict detection;
transmitting, by the UAV, one or more of a position and a set of one or more grid cell identifiers representing waypoints;
receiving, by the UAV, for a given time period, a set of values associated with identified cells of the grid of cells, the set of values identifying a likelihood of conflict for one or more of the identified cells; and
determining, by the UAV, an updated set of the one or more grid cell identifiers if the set of values identifying the likelihood of conflict is non-zero;
wherein the determining, by the UAV, the updated set of the one or more grid cell identifiers if the set of values identifying the likelihood of conflict is non-zero includes:
performing an optimization of the set of values by determining a minimization of Σi=1nraijxij,t−Σi=1nr(pij)k,txij,t, wherein pij represents value data, aij represents a known profit of UAV j in utilizing the grid cell i along its trajectory, xij,t is a binary variable that represents the occupancy of grid cell i by the UAV j, and t represents a time.