Cooperative perception and state estimation for vehicles with compromised sensor systems

A system for sharing information between independent agents, comprising

• a processor;
• and
• memory having instructions stored thereon that, when executed by the processor, cause the system to:
• receive signals indicative of a fault of a sensor system of a first independent agent, wherein the first independent agent is operable to identify faults of the sensor system;
• transmit signals indicative of a request for sensor information to a second independent agent in response to said signals indicative of the fault of the sensor system;
• positioning the second independent agent relative to the first independent agent such that a sensor system of the second independent agent can collect information about a relative position and a motion state of the first independent agent;
• calculating state information for the first independent agent from the relative position and motion state information collected;
• receive signals indicative of the state information in response to the receiving of the request for sensor information;
• apply the state information for the second independent agent to a navigation system of the first independent agent in response to the receiving of the state information;
• and
• operate the first independent agent using the state information provided by the second independent agent.