# US 10,482,773 B1 · Vehicle path based on coverage of nodes > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,482,773 B1 - Document ID: US10482773B1 - Status: Granted - Kind: B1 - Application number: 15/622,142 - Filed: 2017-06-14 - Granted: 2019-11-19 - Earliest claimed: 2015-04-10 - Applicants: Architecture Technology Corporation - Inventors: Barry A. Trent; Ranga S. Ramanujan; Fabio F. Pozzo - Web page: https://patentgrep.com/patent/US10482773B1 ## CPC - G08G 5/32: for flight plan preparation - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/104: {involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00)} - G06Q 10/047: Optimisation of routes or paths, e.g. travelling salesman problem - G08G 5/22: located on the ground - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/34: for flight plan modification - G08G 5/56: for two or more aircraft - G08G 5/74: for monitoring terrain - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract A method of generating a path for a vehicle is disclosed. The method includes receiving information indicating a location of each of a plurality of communication nodes. The vehicle is configured to send wireless signals to and receive wireless signals from the plurality of communication nodes. A path of motion for the vehicle is determined based on coverage of the plurality of communication nodes along the path. Coverage corresponds to connectivity between the vehicle and the plurality of communication nodes. ## Claims ### Claim 1 A method of generating a path for a vehicle, the method comprising: receiving information indicating a location of each of a plurality of communication nodes, the vehicle configured to send wireless signals to and receive wireless signals from the plurality of communication nodes; and determining a path of motion for the vehicle based on coverage of the plurality of communication nodes along the path, wherein coverage corresponds to connectivity between the vehicle and the plurality of communication nodes, wherein the path of motion is a loop. ### Claim 2 (depends on 1) The method of claim 1, wherein determining a path of motion includes optimizing coverage of the plurality of communication nodes. ### Claim 3 (depends on 1) The method of claim 1, wherein determining a path of motion includes maximizing a function that factors in an overall coverage value for a candidate path, the overall coverage value corresponding to a combination of individual coverage values of the plurality of communication nodes on the candidate path. ### Claim 4 (depends on 3) The method of claim 3, wherein maximizing a function includes calculating the overall coverage value by multiplying each individual coverage value by a weight for the communication node corresponding to the individual coverage value and summing the multiplied values together, the weight corresponding to a priority level for the communication node relative to other communication nodes. ### Claim 5 (depends on 3) The method of claim 3, wherein the individual coverage for a communication node includes one or more of a length of time, a bandwidth, a latency, a loss, a signal strength, a gain, and a signal-to-noise ratio for the connectivity between the vehicle and the communication node during traversal of the path. ### Claim 6 (depends on 3) The method of claim 3, wherein maximizing a function includes maximizing the overall coverage value while minimizing deviation in coverage between communication nodes. ### Claim 7 (depends on 1) The method of claim 1, wherein determining a path of motion for the vehicle includes factoring in one or more minimum coverage elements for one or more of the plurality of communication nodes. ### Claim 8 (depends on 7) The method of claim 7, wherein the one or more minimum coverage elements include a minimum bandwidth, a minimum latency, a minimum loss, or a time-related coverage limitation for a respective communication node. ### Claim 9 (depends on 1) The method of claim 1, wherein determining a path of motion includes calculating a coverage value for a communication node based on the location and communication capabilities of the communication node. ### Claim 10 (depends on 1) The method of claim 1, wherein determining a path of motion includes calculating a coverage value for a communication node based on one or more of a radio of the vehicle, a radio of the communication node, an antenna of the vehicle, an antenna of the communication node, an attitude of the vehicle, terrain, and weather. ### Claim 11 (depends on 1) The method of claim 1, wherein the location of a communication node is a latitude, longitude, and altitude of the communication node. ### Claim 12 (depends on 1) The method of claim 1, wherein determining a path of motion includes determining a path that is repeated. ### Claim 13 (depends on 1) The method of claim 1, comprising: while the vehicle is traversing the path, dynamically updating the path based on new information received. ### Claim 14 (depends on 13) The method of claim 13, wherein the new information includes an updated location of at least one of the plurality of communication nodes. ### Claim 15 (depends on 13) The method of claim 13, wherein the new information includes one of a location of at least one additional communication node, and information indicating that one or more of the plurality of communication nodes are no longer to be considered for coverage. ### Claim 16 (depends on 1) The method of claim 1, wherein determining the path includes coordinating the path with a path of one or more other vehicles configured to send wireless signals to and receive wireless signals from the plurality of communication nodes. ### Claim 17 (depends on 16) The method of claim 16, comprising: handing-off communication for a communication node to one of the one or more other vehicles. ### Claim 18 (depends on 1) The method of claim 1, comprising: receiving information indicating one or more areas to avoid, wherein determining a path of motion for the vehicle, determines a path of motion in order to avoid the one or more areas. ### Claim 19 (depends on 1) The method of claim 1, wherein receiving information indicating a location of each of a plurality of communication nodes includes receiving the information from a mission planning system that plans a mission for the vehicle and other units, wherein the method includes outputting travel waypoints to the mission planning system, the travel waypoints corresponding to the path of motion for the vehicle. ### Claim 20 (depends on 19) The method of claim 19, wherein the mission planning system is one of a joint mission planning system (JMPS) and a theater battle management care system (TBMCS). ### Claim 21 A processor readable medium comprising: instructions stored thereon, wherein the instructions, when executed by one or more processing devices, cause the one or more processing devices to: receive information indicating a location of each of a plurality of communication nodes; and determine a path of motion for a vehicle based on coverage of the plurality of communication nodes along the path, wherein the path of motion is a loop and the vehicle is configured to send wireless signals to and receive wireless signals from the plurality of communication nodes, wherein coverage corresponds to connectivity between the vehicle and the plurality of communication nodes. ### Claim 22 (depends on 21) The processor readable medium of claim 21, wherein determine a path of motion includes maximize a function that factors in an overall coverage value for a candidate path, the overall coverage value corresponding to a combination of individual coverage values of the plurality of communication nodes on the candidate path. ### Claim 23 (depends on 22) The processor readable medium of claim 22, wherein maximize a function includes calculate the overall coverage value by multiplying each individual coverage value by a weight for the communication node corresponding to the individual coverage value and summing the multiplied values together, the weight corresponding to a priority level for the communication node relative to other communication nodes. ### Claim 24 (depends on 22) The processor readable medium of claim 22, wherein maximize a function includes maximize the overall coverage value while minimizing deviation in coverage between communication nodes. ### Claim 25 (depends on 21) The processor readable medium of claim 21, wherein determine a path of motion for the vehicle includes factor in one or more minimum coverage elements for one or more of the plurality of communication nodes. ### Claim 26 (depends on 21) The processor readable medium of claim 21, wherein the instructions cause the one or more processing devices to, while the vehicle is traversing the path, dynamically update the path based on new information received. ### Claim 27 (depends on 21) The processor readable medium of claim 21, wherein receive information indicating a location of each of a plurality of communication nodes includes receive the information from a mission planning system that plans a mission for the vehicle and other units, wherein the instructions cause the one or more processing devices to provide travel waypoints to the mission planning system, the travel waypoints corresponding to the path of motion for the vehicle. ### Claim 28 (depends on 27) The processor readable medium of claim 27, wherein the mission planning system is one of a joint mission planning system (JMPS) and a theater battle management care system (TBMCS). ### Claim 29 A vehicle comprising: a means of propulsion; one or more processing devices configured to control the means of propulsion; a data storage medium coupled to the one or more processing devices, the data storage medium having instructions stored thereon, wherein the instructions, when executed by the one or more processing devices, cause the one or more processing devices to: receive information indicating a location of each of a plurality of communication nodes, the vehicle configured to send wireless signals to and receive wireless signals from the plurality of communication nodes; determine a path of motion for the vehicle based on coverage of the plurality of communication nodes along the path, wherein coverage corresponds to connectivity between the vehicle and the plurality of communication nodes, wherein the path of motion is a loop; and control the means of propulsion to propel the vehicle along the path. ### Claim 30 (depends on 29) The vehicle of claim 29, wherein the vehicle is an avionic vehicle.