# US 10,371,537 B1 · Systems and methods for flexible route planning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,371,537 B1 - Document ID: US10371537B1 - Status: Granted - Kind: B1 - Application number: 15/826,446 - Filed: 2017-11-29 - Granted: 2019-08-06 - Earliest claimed: 2017-11-29 - Assignees: Palantir Technologies Inc. - Applicants: Palantir Technologies Inc. - Inventors: Peter Wilczynski; Reese Glidden - Web page: https://patentgrep.com/patent/US10371537B1 ## CPC - G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents} - G01C 21/3423: {Multimodal routing} - G01C 21/3453: {Special cost functions, i.e. other than distance or default speed limit of road segments} - G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries} - G01C 21/3605: {Destination input or retrieval} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract Systems, methods, and non-transitory computer readable media are provided for flexible route planning. Locations for a planned movement may be obtained. The locations may include at least a starting location and an ending location. A route for the planned movement may be determined. The route may include at least the starting location and the ending location. A composite cost of using the route may be determined. The composite cost may include at least a temporal cost component and a non-temporal cost component. An interface through which the composite cost is accessible may be provided. ## Claims ### Claim 1 A system comprising: one or more processors; and memory storing instructions that, when executed by the one or more processors, cause the system to perform: obtaining locations for a planned movement of multiple vehicles, the locations including at least a first starting location associated with a first vehicle of the multiple vehicles, a second starting location associated with a second vehicle of the multiple vehicles, and an ending location associated with the first and second vehicles of the multiple vehicles; determining a route for the planned movement of the multiple vehicles, the route including at least the first and second starting locations and the ending location; determining a composite cost of using the route, the composite cost including at least a temporal cost component and a non-temporal cost component; and providing an interface through which the composite cost is accessible. ### Claim 2 (depends on 1) The system of claim 1, wherein the locations further include one or more intermediate locations. ### Claim 3 (depends on 1) The system of claim 1, wherein the temporal cost component is determined based on a temporal route graph and the non-temporal cost component is determined based on a two-dimensional non-temporal cost map. ### Claim 4 (depends on 1) The system of claim 1, wherein the temporal cost component reflects an expected time duration to use the route and the non-temporal cost component reflects a measure of a characteristic of an environment through which the route travels. ### Claim 5 (depends on 4) The system of claim 4, wherein the characteristic includes at least one of: a geographic characteristic, a preference characteristic, a difficulty characteristic, or a risk characteristic. ### Claim 6 (depends on 1) The system of claim 1, wherein the route includes multiple modes of motion along the route. ### Claim 7 (depends on 1) The system of claim 1, wherein the interface enables creation of a new path for the route based on a change to an environment through which the route travels. ### Claim 8 A method implemented by a computing system including one or more processors and storage media storing machine-readable instructions, wherein the method is performed using the one or more processors, the method comprising: obtaining locations for a planned movement of multiple vehicles, the locations including at least a first starting location associated with a first vehicle of the multiple vehicles, a second starting location associated with a second vehicle of the multiple vehicles, and an ending location associated with the first and second vehicles of the multiple vehicles; determining a route for the planned movement of the multiple vehicles, the route including at least the first and second starting locations and the ending location; determining a composite cost of using the route, the composite cost including at least a temporal cost component and a non-temporal cost component; and providing an interface through which the composite cost is accessible. ### Claim 9 (depends on 8) The method of claim 8, wherein the locations further include one or more intermediate locations. ### Claim 10 (depends on 8) The method of claim 8, wherein the temporal cost component is determined based on a temporal route graph and the non-temporal cost component is determined based on a two-dimensional non-temporal cost map. ### Claim 11 (depends on 8) The method of claim 8, wherein the temporal cost component reflects an expected time duration to use the route and the non-temporal cost component reflects a measure of a characteristic of an environment through which the route travels. ### Claim 12 (depends on 11) The method of claim 11, wherein the characteristic includes at least one of: a geographic characteristic, a preference characteristic, a difficulty characteristic, or a risk characteristic. ### Claim 13 (depends on 8) The method of claim 8, wherein the route includes multiple modes of motion along the route. ### Claim 14 (depends on 8) The method of claim 8, wherein the interface enables creation of a new path for the route based on a change to an environment through which the route travels. ### Claim 15 A non-transitory computer readable medium comprising instructions that, when executed, cause one or more processors to perform: obtaining locations for a planned movement of multiple vehicles, the locations including at least a first starting location associated with a first vehicle of the multiple vehicles, a second starting location associated with a second vehicle of the multiple vehicles, and an ending location associated with the first and second vehicles of the multiple vehicles; determining a route for the planned movement of the multiple vehicles, the route including at least the first and second starting locations and the ending location; determining a composite cost of using the route, the composite cost including at least a temporal cost component and a non-temporal cost component; and providing an interface through which the composite cost is accessible. ### Claim 16 (depends on 15) The non-transitory computer readable medium of claim 15, wherein the locations further include one or more intermediate locations. ### Claim 17 (depends on 15) The non-transitory computer readable medium of claim 15, wherein the temporal cost component is determined based on a temporal route graph and the non-temporal cost component is determined based on a two-dimensional non-temporal cost map. ### Claim 18 (depends on 15) The non-transitory computer readable medium of claim 15, wherein the temporal cost component reflects an expected time duration to use the route and the non-temporal cost component reflects a measure of a characteristic of an environment through which the route travels. ### Claim 19 (depends on 18) The non-transitory computer readable medium of claim 18, wherein the characteristic includes at least one of: a geographic characteristic, a preference characteristic, a difficulty characteristic, or a risk characteristic. ### Claim 20 (depends on 15) The non-transitory computer readable medium of claim 15, wherein the interface enables creation of a new path for the route based on a change to an environment through which the route travels.