Zoox, Inc.

Wisk Aero LLC

Kitty Hawk Corporation

Olivier Toupet

Herve Martins-Rivas

Zouhair Mahboubi

Gabe Hoffmann

Joseph Funke

Mark Jonathon McClelland

Kazuhide Okamoto

Jacob Patrick Thalman

Marin Kobilarov

David Evan Zlotnik

Sriram Narayanan

Jeremy Schwartz

Jack Riley

Brian Michael Filarsky

Liam Gallagher

Amirhossein Tamjidi

Vincent Andreas Laurense

Systems and techniques for determining a sideslip vector for a vehicle that may have a direction that is different from that of a heading vector for the vehicle. The sideslip vector in a current vehicle state and sideslip vectors in predicted vehicles states may be used to determine paths for a vehicle through an environment and trajectories for controlling the vehicle through the environment. The sideslip vector may be based on a vehicle position that is the center point of the wheelbase of the vehicle and may include lateral velocity, facilitating the control of four-wheel steered vehicle while maintaining the ability to control two-wheel steered vehicles.

Determining vehicle position using sideslip vector

Systems and techniques for determining acceleration controls to use in a trajectory for use in controlling a vehicle are described. An acceleration determination system may receive a trajectory from a trajectory determination system and determine, based on various vehicle, acceleration, and spatial trajectory parameters, the appropriate controls to configure in a longitudinal profile of the trajectory and the suitable spatial implementation points for implementing the controls within acceleration rate change constraints. An operational trajectory determination system may determine a trajectory for use in operating the vehicle using one or more candidate trajectories and/or associated data, including one or more acceleration controls determined by the acceleration determination system.

Systems and methods for spatially controlled acceleration and deceleration

Techniques are described for determining to modify a coordinate system in response to the occurrence of a condition. As non-limiting examples, such conditions comprise distance traveled, speed of the vehicle (or system), an amount of computational resources available, a time since the last change, a number of objects present, the presence (or absence) of a particular object proximate the vehicle, a distance to a proximate object, based on a particular frequency, or the like. Such modifications may improve the operation and safety of a computing system used for path planning and trajectory generation by allowing lower precision numerical representations to be used in safety-critical situations while avoiding potential computational errors that would otherwise result from using such a representation.

Adaptable origin for location offsets

Techniques to control flight of an aircraft are disclosed. In various embodiments, a set of inputs associated with a requested set of forces and moments to be applied to the aircraft is received. An optimal mix of actuators and associated actuator parameters to achieve to an extent practical the requested forces and moments is determined.

Online optimization-based flight control system

Techniques to control flight of an aircraft are disclosed. In various embodiments, a set of inputs associated with a requested set of forces and moments to be applied to the aircraft is received. An optimal mix of actuators and associated actuator parameters to achieve to an extent practical the requested forces and moments is determined, including by minimizing a weighted set of costs that includes costs associated with one or more errors each corresponding to a difference between a requested force or moment and a corresponding force or moment achieved by the computed solution.

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Stevenson Ranch, CA, United States of America

Olivier Toupet