Self-verifying array of unmanned vehicles with mission-controller node for coordinated autonomous operation

Abstract

Unmanned vehicle apparatus including a first unmanned vehicle operative as a mission-controller Node within a self-verifying array of Nodes. The first unmanned vehicle includes one or more wireless transceivers and sensors configured to determine its position and orientation relative to one or more secondary unmanned vehicles. Each secondary unmanned vehicle includes a Node having a transceiver for bidirectional communication with the first unmanned vehicle and with other Nodes in the array. A controller within the first unmanned vehicle aggregates and verifies positional and communication data received from the secondary unmanned vehicles, designates base Nodes for calibration, and transmits mission instructions based upon verified Node positions. The controller executes cascade communications, excludes faulty Nodes, and dynamically updates a virtual representation of the array within an augmented virtual model. The array thereby maintains a real-time, verified topology enabling coordinated autonomous operation across multiple unmanned air, surface, or subsea vehicles.