US 12,488,698 B2
Method and system for avoiding mid-air collisions and traffic control
Moshe Cohen, Ra'anana (IL)
Assigned to CICONIA LTD., Nes-Ziona (IL)
Filed by CICONIA LTD., Nes-Ziona (IL)
Filed on Sep. 10, 2023, as Appl. No. 18/244,290.
Application 18/244,290 is a division of application No. 16/968,691, granted, now 11,756,439, previously published as PCT/IL2019/050164, filed on Feb. 11, 2019.
Claims priority of application No. 257460 (IL), filed on Feb. 11, 2018.
Prior Publication US 2023/0419846 A1, Dec. 28, 2023
Int. Cl. G08G 5/80 (2025.01); G05D 1/00 (2006.01); G08G 5/21 (2025.01); G08G 5/25 (2025.01); G08G 5/55 (2025.01); G08G 5/57 (2025.01); G08G 5/72 (2025.01); B64U 10/13 (2023.01)
CPC G08G 5/80 (2025.01) [G05D 1/1064 (2019.05); G08G 5/21 (2025.01); G08G 5/25 (2025.01); G08G 5/55 (2025.01); G08G 5/57 (2025.01); G08G 5/723 (2025.01); B64U 10/13 (2023.01); B64U 2201/10 (2023.01)] 14 Claims
OG exemplary drawing
 
1. A decentralized density control (DDC) airborne unit for placing onboard an aerial platform, the DDC airborne unit comprising:
a processor configured, based on current location of the aerial platform obtained from one or a plurality of navigational or positioning sensors, based on current locations of other aerial platforms, on speed and heading of the airborne unit, and based on at least one air traffic rule relating to a predefined own personal airspace of the aerial platform, the at least one air traffic rule dictating that the own personal airspace includes at any time no more than a predetermined number of aerial platforms, the predetermined number being greater than zero,
if one or more of other airborne units of said other airborne platforms have a lower priority level than a priority level of the aerial platform with the onboard airborne unit, to generate steering commands to the one or more of other airborne units of said other airborne platforms with a lower priority level than a priority level of the aerial platform with the onboard airborne unit, so as to reduce the number of the other aerial platforms in or about to enter the own personal airspace of the aerial platform so as not to exceed the predetermined number of aerial platforms in the own personal airspace personal airspace, and
if one or more of other airborne units of said other airborne platforms have the same or a higher priority level than a priority level of the aerial platform with the onboard airborne unit, to calculate an own evading maneuver and to cause the aerial platform to perform said own evading maneuver so as to reduce the number of aerial platforms in the own personal airspace, so as to not exceed the predetermined number of aerial platforms in or about to enter the own personal airspace.