# US 10,246,180 B2 · Cooperative perception and state estimation for vehicles with compromised sensor systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,180 B2 - Document ID: US10246180B2 - Status: Granted - Kind: B2 - Application number: 14/717,765 - Filed: 2015-05-20 - Published: 2015-11-26 - Granted: 2019-04-02 - Earliest claimed: 2014-05-20 - Assignees: Sikorsky Aircraft Corporation - Applicants: Sikorsky Aircraft Corporation - Inventors: Michael Aaron Connor; Christopher Stathis; Joshua M. Leland; Harshad S. Sane - Web page: https://patentgrep.com/patent/US10246180B2 ## CPC - B64C 19/00: Aircraft control not otherwise provided for - B64D 45/00: Aircraft indicators or protectors not otherwise provided for - G05D 1/104: {involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00)} - B64U 2101/20: for use as communications relays, e.g. high-altitude platforms - B64U 2201/102: adapted for flying in formations - B64C: AEROPLANES; HELICOPTERS - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A method and system for sharing information between independent agents having 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; transmit signals indicative of a request for sensor information to a second independent agent; receive signals indicative of state information for the second independent agent in response to the receiving of the request for sensor information; and apply the state information to a navigation system of the first independent agent in response to the receiving of the state information. ## Claims ### Claim 1 A method for sharing information between independent agents, comprising: receiving, with a processor, signals indicative of a fault of a sensor system of a first independent agent, wherein the fault is identified by the first independent agent; transmitting, with the processor, signals indicative of a request for sensor information to a second independent agent in response to receiving 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; receiving, with the processor, signals indicative of the state information in response to the transmitting of the request for sensor information; applying, with the processor, the state information to a navigation system of the first independent agent in response to the receiving of the state information; and operating the first independent agent using the state information provided by the second independent agent. ### Claim 2 (depends on 1) The method of claim 1, wherein the receiving of the state information further comprises receiving perception information determined by the second independent agent. ### Claim 3 (depends on 1) The method of claim 1, further comprising receiving estimated environment state information determined about the second independent agent. ### Claim 4 (depends on 1) The method of claim 1, wherein the local state data includes an inertial measurement system, air data sensor, global positioning system, or radio navigation system of the first independent agent. ### Claim 5 (depends on 4) The method of claim 4, further comprising receiving information that is determined based on measured positioning of the second independent agent relative to the first independent agent in response to receiving of the fault in the inertial measurement system. ### Claim 6 (depends on 1) The method of claim 1, further comprising receiving estimated state information determined about the first independent agent. ### Claim 7 (depends on 6) The method of claim 6, further comprising applying the estimated state information to the navigation system of the first independent agent in response to the receiving of the estimated state information. ### Claim 8 (depends on 6) The method of claim 6, further comprising one of replacing compromised state information with the received estimated state information or supplementing the compromised state information with the received estimated state information. ### Claim 9 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. ### Claim 10 (depends on 9) The system of claim 9, wherein the processor is configured to receive perception information determined by the second independent agent. ### Claim 11 (depends on 9) The system of claim 9, wherein the processor is configured to receive estimated environment state information determined about the second independent agent. ### Claim 12 (depends on 10) The system of claim 10, wherein the processor is configured to receive information that is determined based on measured positioning of the second independent agent relative to the first independent agent in response to receiving the signals indicative of a fault in the sensor system of the first independent agent. ### Claim 13 (depends on 9) The system of claim 9, wherein the processor is configured to receive estimated state information determined about the first independent agent. ### Claim 14 (depends on 9) The system of claim 9, wherein the processor is configured to receive information based on at least one of relative state data of the second independent agent and absolute state data of the second independent agent. ### Claim 15 (depends on 14) The system of claim 14, wherein the processor is configured to determine an estimate of an absolute state of the first independent agent in response to the receiving at least one of the relative state data or the absolute state data.