The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 30, 2022
Filed:
Jul. 18, 2019
The Trustees of the University of Pennsylvania, Philadelphia, PA (US);
Rahul Mangharam, Philadelphia, PA (US);
Yash Vardhan Pant, Philadelphia, PA (US);
Houssam Abbas, Philadelphia, PA (US);
Rhudii A. Quaye, Philadelphia, PA (US);
THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA, Philadelphia, PA (US);
Abstract
Methods, systems, and computer readable media for controlling a fleet of drones. A method includes receiving a mission specification for each drone of one or more drones, each mission specification including spatio-temporal requirements for the drone. The method includes generating, for each drone, a low-rate trajectory for the drone by performing a robustness maximization of satisfying the mission specification over a low-rate sequence of waypoints for the drone based on a mapping between low-rate trajectories and high-rate trajectories. The method includes transmitting, to each drone, the low-rate trajectory for the drone, causing a local controller of each drone to control the drone by generating a high-rate trajectory using the low-rate trajectory and the mapping between low-rate trajectories and high-rate trajectories.