	US 12,007,791 B2
	Multi-drone/sensor platform with information lateralization and federated path planning
Sepehre Bigdeli, Mission Viejo, CA (US); Tara Javidi, San Diego, CA (US); and Kayvan Alikhani, Berkeley, CA (US)
Assigned to Soter Technology Inc, Mission Viejo, CA (US)
Filed by Soter Technology Inc, Mission Viejo, CA (US)
Filed on May 11, 2021, as Appl. No. 17/317,672.
Claims priority of provisional application 63/023,016, filed on May 11, 2020.
Prior Publication US 2021/0349478 A1, Nov. 11, 2021
Int. Cl. G05D 1/00 (2006.01); G08G 5/00 (2006.01); H04L 67/12 (2022.01)

CPC G05D 1/104 (2013.01) [G05D 1/0088 (2013.01); G08G 5/0039 (2013.01); G08G 5/0069 (2013.01); H04L 67/12 (2013.01)]

10 Claims

1. A device for facilitating managing of paths for unmanned vehicles, wherein the device is configured to be communicatively coupled with the unmanned vehicles, wherein the device comprises:

a communication device configured for:

receiving a plurality of heterogeneous information from a plurality of sensors associated with a plurality of unmanned vehicles, wherein the plurality of sensors is configured for generating the plurality of heterogeneous information of an environment from a plurality of field of views of the plurality of sensors, wherein a heterogeneity of the plurality of heterogeneous information is based on the plurality of field of views, wherein the plurality of field of views is hierarchically nested based on a hierarchical order of the plurality of unmanned vehicles, wherein the plurality of heterogeneous information is hierarchically nested based on hierarchical nesting of the plurality of field of views, wherein a primary field of view of a primary sensor associated with a primary unmanned vehicle of a higher hierarchical order includes a secondary field of view of a secondary sensor associated with a secondary unmanned vehicle of a lower hierarchical order, wherein the primary sensor is configured for generating primary information of the plurality of heterogeneous information associated with the environment from the primary field of view and the secondary sensor is configured for generating secondary information of the plurality of heterogeneous information associated with the environment from the secondary field of view, wherein the primary information includes the secondary information based on the hierarchical nesting of the plurality of field of views, wherein the plurality of sensors comprises at least one moving sensor and at least one stationary sensor, wherein the at least one moving sensor is mounted on at least one unmanned vehicle of the plurality of unmanned vehicles, wherein the at least one moving sensor traverses the environment based on the traversing of the at least one unmanned vehicle of the plurality of unmanned vehicles, wherein the at least one stationary sensor is stationarily placed in the environment; and

transmitting a plurality of commands to the plurality of unmanned vehicles, wherein the plurality of unmanned vehicles is configured for traversing the environment based on the plurality of commands, wherein the plurality of unmanned vehicles is configured for performing at least one mission based on the traversing;

a processing device communicatively coupled with the communication device, the processing device is configured for:

integrating the plurality of heterogeneous information;

generating integrated information of the environment based on the integrating;

analyzing the integrated information based on a plurality of paths assigned to the plurality of unmanned vehicles for performing the at least one mission;

determining an adjustment required to be made in the plurality of paths by the plurality of unmanned vehicles based on the analyzing; and

generating the plurality of commands for the plurality of unmanned vehicles based on the determining of the adjustment; and

a storage device communicatively coupled with the processing device, wherein the storage device is configured for storing the plurality of paths assigned to the plurality of unmanned vehicles for performing the at least one mission;

the integrating of the plurality of heterogeneous information comprises integrating the plurality of heterogeneous information using at least one machine learning model, wherein the at least one machine learning model is trained to integrate heterogeneous information, wherein the generating of the integrated information is further based on the integrating of the plurality of heterogeneous information using the at least one machine learning model;

the plurality of sensors is configured for detecting an appearance of at least one object in the environment from the plurality of field of views based on the traversing of the environment by the plurality of unmanned vehicles, wherein the generating of the plurality of heterogeneous information is further based on the detecting; and

receiving at least one sensor configuration associated with at least one sensor of the plurality of sensors from at least one user device, wherein the processing device is further configured for:

analyzing the at least one sensor configuration;

determining a modification in at least one field of view of the at least one sensor based on the analyzing of the at least one sensor configuration; and

generating a field of view modification command for the at least one sensor based on the determining of the modification, wherein the at least one sensor is configured for modifying the at least one field of view based on the field of view modification command.

8. A device for facilitating managing of paths for unmanned vehicles, wherein the device is configured to be communicatively coupled with the unmanned vehicles, wherein the device comprises: