The University of Sydney

Technological Resources Pty. Limited

Ross Hennessy

Hugh Durrant-Whyte

Eric William Nettleton

Ali Haydar Göktogan

Ali Haydar Goektogan

Eric Nettleton

Surya P N Singh

Surya P Singh

Fabio Tozeto Ramos

Peter James Hatherly

Guralawela Ekanayake Mudiyanselage Dharmapriya Cha Bandara

Florian Oppolzer

Xiuyi Fan

Guralawela Ekanayake Bandara

A planning system () for scheduling the operation of autonomous entities within a defined geographical region. The planning system operates at a region plan level () for strategic planning across the geographical region, at an operation plan level () for operations to be performed by autonomous entities in localised zones having operation-defined geographical boundaries, and at a task plan level () in which processing is undertaken in respect of specific tasks to be performed by the autonomous entities, in undertaking the operations.

Planning system for autonomous operation

A planning system () for scheduling the operation of autonomous entities within a defined geographical region. The planning system operates at a region plan level () for strategic planning across the geographical region, at an operation plan level () for operations to be performed by autonomous entities in localized zones having operation-defined geographical boundaries, and at a task plan level () in which processing is undertaken in respect of specific tasks to be performed by the autonomous entities, in undertaking the operations.

Methods and systems are described for effecting autonomous operations within a defined geographical region (). A plurality of localized zones () having operation-defined geographical boundaries are specified within the region. A plurality of control modules are established associated with respective ones of the localized zones and autonomous operations are effected under the supervisory control of the control module associated with the localized zone in which the autonomous operation occurs. The geographical disposition of the boundary of at least one of the localized zones is varied within the defined geographical region.

Integrated automation system for regions with variable geographical boundaries

Autonomous operations are conducted within a defined geographical region. In an autonomous system of a management party a plurality of localized zones are established having operation-defined geographical boundaries within the geographical region. Entities having autonomous operating systems to perform specific autonomous operations within respective ones of the localized zones. The autonomous system of the management party is integrated with the autonomous operating systems of the entities.

Integrated automation system

Methods and systems are described for generating a data representation of a geographical region as an adjunct to conducting autonomous operations within the region. The method comprises receiving information specifying a plurality of localized caused zones having operation-defined geographical boundaries within the region; receiving heterogeneous data descriptive of the region; associating the received data with respective localized zones; fusing the received data associated with the localized zones into data representations of the localized zones; and integrating the data representations of the localized zones into a common data representation of the geographical region.

Integrated automation system with picture compilation system

A hierarchical control system () for supervising operations of an autonomous operator located within a defined geographical region containing a localized zone having an operation-defined boundary. The control system () has a primary controller () associated with the defined geographical region and a secondary controller () associated with the localized zone. The secondary controller () is responsive to the supervisory control of the primary controller (). The autonomous operator, if located within the localized zone, is responsive to the supervisory control of the secondary controller ().

Control system for autonomous operation

A method is described of regulating movement of an autonomous entity between a first zone () and a second zone (), wherein the first and second zones each have an operation-defined geographical boundary within a defined geographical region. The autonomous entity is instructed to move into a transition zone () that spans the first zone and the second zone, wherein the autonomous entity while located in the first zone is responsive to supervisory control of a first controller () associated with the first zone. The autonomous entity is registered with a second controller () associated with the second zone to enable the autonomous entity to respond to supervisory control of the second controller as the autonomous entity enters the second zone through the transition zone. The autonomous entity is de-registered from the first controller.

Method and system for regulating movement of an entity between zones

An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner () that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (). A tramming controller () includes a waypoint controller () that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighboring waypoints, and a rate controller () that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.

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Ross Hennessy