# US 11,029,682 B2 · Apparatus and method for centralized control of vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,682 B2 - Document ID: US11029682B2 - Status: Granted - Kind: B2 - Application number: 16/247,034 - Filed: 2019-01-14 - Published: 2019-05-16 - Granted: 2021-06-08 - Earliest claimed: 2016-04-24 - Assignees: Flytrex Aviation Ltd. - Applicants: Flytrex Aviation Ltd. - Inventors: Yariv Bash; Amit Regev - Web page: https://patentgrep.com/patent/US11029682B2 ## CPC - G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/32: for flight plan preparation - G08G 5/55: for a single aircraft - G08G 5/56: for two or more aircraft - G08G 5/57: for unmanned aircraft - G08G 5/727: {from a ground station} - B64U 2101/61: for transporting passengers - B64U 2101/64: for parcel delivery or retrieval - B64U 2201/20: Remote controls - G06Q 10/0832: Special goods or special handling procedures, e.g. handling of hazardous or fragile goods - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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}) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - 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 An apparatus and method for centralized control of a vehicle. The apparatus includes a processing circuitry; and a memory, the memory containing instructions that, when executed by the processing circuitry, configure the apparatus to: establish control of a vehicle, wherein establishing the control further includes determining a set of instructions for controlling the vehicle, wherein the apparatus is configured to control the vehicle based on the determined set of instructions; determine, for a node, a subset of the set of instructions for controlling the vehicle; generate a mission plan for the vehicle based on a request from the node when the request is valid, wherein the request indicates a requested navigation from a first location to a second location, wherein the request is not valid when the requested navigation is not in the subset of instructions; and send, to the vehicle, control instructions for navigating to the first location and control instructions for navigating from the first location to the second location based on the mission plan. ## Claims ### Claim 1 An apparatus for centralized control of a vehicle, comprising: a processing circuitry; and a memory, the memory containing instructions that, when executed by the processing circuitry, configure the apparatus to: establish control of a vehicle, wherein establishing the control further includes determining a set of instructions for controlling the vehicle, wherein the apparatus is configured to control the vehicle based on the determined set of instructions; determine, for a node, a subset of the set of instructions for controlling the vehicle; generate a mission plan for the vehicle based on a request from the node when the request is valid, wherein the request indicates a requested navigation from a first location to a second location, wherein the request is not valid when the requested navigation is not in the subset of instructions; and send, to the vehicle, control instructions for navigating to the first location and control instructions for navigating from the first location to the second location based on the mission plan. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the request is not valid when the node is not authorized to control the vehicle. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the requested navigation is in the subset of instructions when the subset of instructions includes the control instructions for navigating to the first location and the control instructions for navigating from the first location to the second location. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the requested navigation is not in the subset of instructions when the subset of instructions does not include any of: the control instructions for navigating to the first location, and the control instructions for navigating from the first location to the second location. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the vehicle is selected from among a plurality of vehicles based on the mission plan and at least one of: a geographical location of each of the plurality of vehicles, an availability of each of the plurality of vehicles, a capability of each of the plurality of vehicles, an amount of fuel of each of the plurality of vehicles, and an amount of power of each of the plurality of vehicles. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the control instructions for navigating to the first location further include instructions for accepting a payload when the vehicle is at the first location. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the control instructions for navigating from the first location to the second location further include instructions for releasing a payload when the vehicle is at the second location. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the control is established via a vehicle system of the vehicle, wherein the established control is exclusive control, wherein the vehicle system is configured to execute only instructions from the apparatus. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the node is a user device, wherein the first location and the second location are based on user inputs from the user device. ### Claim 10 A non-transitory computer readable medium having stored thereon instructions for causing a processing circuitry to perform a process, the process comprising: establishing control of a vehicle, wherein establishing the control further comprises determining a set of instructions for controlling the vehicle, wherein the apparatus is configured to control the vehicle based on the determined set of instructions; determining, for a node, a subset of the set of instructions for controlling the vehicle; generating a mission plan for the vehicle based on a request from the node when the request is valid, wherein the request indicates a requested navigation from a first location to a second location, wherein the request is not valid when the requested navigation is not in the subset of instructions; and sending, to the vehicle, control instructions for navigating to the first location and control instructions for navigating from the first location to the second location based on the mission plan. ### Claim 11 A method for centralized control of a vehicle, comprising: establishing control of a vehicle, wherein establishing the control further comprises determining a set of instructions for controlling the vehicle, wherein the apparatus is configured to control the vehicle based on the determined set of instructions; determining, for a node, a subset of the set of instructions for controlling the vehicle; generating a mission plan for the vehicle based on a request from the node when the request is valid, wherein the request indicates a requested navigation from a first location to a second location, wherein the request is not valid when the requested navigation is not in the subset of instructions; and sending, to the vehicle, control instructions for navigating to the first location and control instructions for navigating from the first location to the second location based on the mission plan. ### Claim 12 (depends on 11) The method of claim 11, wherein the request is not valid when the node is not authorized to control the vehicle. ### Claim 13 (depends on 11) The method of claim 11, wherein the requested navigation is in the subset of instructions when the subset of instructions includes the control instructions for navigating to the first location and the control instructions for navigating from the first location to the second location. ### Claim 14 (depends on 11) The method of claim 11, wherein the requested navigation is not in the subset of instructions when the subset of instructions does not include any of: the control instructions for navigating to the first location, and the control instructions for navigating from the first location to the second location. ### Claim 15 (depends on 11) The method of claim 11, wherein the vehicle is selected from among a plurality of vehicles based on the mission plan and at least one of: a geographical location of each of the plurality of vehicles, an availability of each of the plurality of vehicles, a capability of each of the plurality of vehicles, an amount of fuel of each of the plurality of vehicles, and an amount of power of each of the plurality of vehicles. ### Claim 16 (depends on 11) The method of claim 11, wherein the control instructions for navigating to the first location further include instructions for accepting a payload when the vehicle is at the first location. ### Claim 17 (depends on 11) The method of claim 11, wherein the control instructions for navigating from the first location to the second location further include instructions for releasing a payload when the vehicle is at the second location. ### Claim 18 (depends on 11) The method of claim 11, wherein the control is established via a vehicle system of the vehicle, wherein the established control is exclusive control, wherein the vehicle system is configured to execute only instructions from the apparatus. ### Claim 19 (depends on 11) The method of claim 11, wherein the node is a user device, wherein the first location and the second location are based on user inputs from the user device.