# US 12,007,764 B2 · System and method for aerial traffic management of unmanned aerial vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,007,764 B2 - Document ID: US12007764B2 - Status: Granted - Kind: B2 - Application number: 17/092,714 - Filed: 2020-11-09 - Published: 2021-05-13 - Granted: 2024-06-11 - Earliest claimed: 2016-04-24 - Assignees: Flytrex Aviation Ltd. - Applicants: Flytrex Aviation Ltd. - Inventors: Yariv Bash; Amit Regev - Web page: https://patentgrep.com/patent/US12007764B2 ## 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)} - B64C 39/024: {of the remote controlled vehicle type, i.e. RPV} - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - G05D 1/1064: {specially adapted for avoiding collisions with other aircraft} - G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) - G05D 1/692: involving a plurality of disparate vehicles - G06Q 10/0843: {using forecasting or optimisation} - 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 10/14: with four distinct rotor axes, e.g. quadcopters - B64U 2101/60: for transporting passengers; for transporting goods other than weapons - B64U 2201/20: Remote controls - G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa} - G05D 1/81: Handing over between on-board automatic and on-board manual control - 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 - B64C: AEROPLANES; HELICOPTERS - 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 - 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 ## Abstract A system and method for aerial traffic management of unmanned aerial vehicles (UAVs) are provided. The method includes receiving at least a navigation request from a first UAV of a plurality of UAVs, wherein the navigation request specifies at least a waypoint; determining whether the waypoint is clear; sending an instruction the first UAV to hover at a specified position until the waypoint is clear, when the received waypoint is not clear; locking the waypoint, when the received waypoint not clear; and instructing the first UAV to navigate to the received waypoint. ## Claims ### Claim 1 A method for aerial traffic management of unmanned aerial vehicles (UAVs), comprising: receiving at least a navigation request from a UAV of a plurality of UAVs, wherein the navigation request specifies at least a waypoint; determining whether the waypoint is clear; sending an instruction to the UAV to hover at a specified position until the waypoint is clear, when the received waypoint is not clear; locking the waypoint for the UAV, when the received waypoint is clear; and instructing the UAV to navigate to the received waypoint. ### Claim 2 (depends on 1) The method of claim 1, further comprising: when the received waypoint was not clear, periodically checking whether the received waypoint has been cleared; locking the waypoint, for the UAV when the received waypoint has become clear; and instructing the UAV to navigate to the received waypoint. ### Claim 3 (depends on 1) The method of claim 1, wherein the instruction defines at least one action to be performed at a destination by the UAV, wherein the at least one action is any one of: lowering a hover height, and releasing a payload. ### Claim 4 (depends on 1) The method of claim 1, further comprising: generating a navigation plan. ### Claim 5 (depends on 4) The method of claim 4, wherein generating the navigation plan further comprises: receiving at least a set of destination coordinates included in a digital terrain map; and determining, based on the received destination coordinates, a plurality of waypoints from an origin to a destination. ### Claim 6 (depends on 5) The method of claim 5, further comprising: providing the navigation plan to the UAV. ### Claim 7 (depends on 6) The method of claim 6, further comprising: determining whether a subsequent waypoint based on the navigation plan, of the at least one waypoint, is a destination waypoint, where, if the subsequent waypoint is a destination waypoint, destination instructions are sent to the UAV. ### Claim 8 (depends on 1) The method of claim 1, further comprising: employing an emergency protocol on the UAV in a response to an emergency command. ### Claim 9 (depends on 1) The method of claim 1, further comprising: instructing the UAV to hover at the received waypoint's emergency height, until an emergency event is over. ### Claim 10 A non-transitory computer readable medium having stored thereon instructions for a process for aerial traffic management of unmanned aerial vehicles (UAVs), the process comprising: receiving at least a navigation request from a UAV of a plurality of UAVs, wherein the navigation request specifies at least a waypoint; determining whether the waypoint is clear; sending an instruction to the UAV to hover at a specified position until the waypoint is clear, when the received waypoint is not clear; locking the waypoint for the UAV, when the received waypoint clear; and instructing the UAV to navigate to the received waypoint. ### Claim 11 A system for aerial traffic management of unmanned aerial vehicles (UAVs), comprising: a processing circuitry; and a memory, the memory containing instructions that, when executed by the processing circuitry, configure the system to: receive at least a navigation request from a UAV of a plurality of UAVs, wherein the navigation request specifies at least a waypoint; determine whether the waypoint is clear; send an instruction to the UAV to hover at a specified position until the waypoint is clear, when the received waypoint is not clear; lock the waypoint for the UAV, when the received waypoint is clear; and instruct the UAV to navigate to the received waypoint. ### Claim 12 (depends on 11) The system of claim 11, wherein the system is further configured to: when the received waypoint was not clear, periodically check whether the received waypoint has been cleared; lock the waypoint, when the received waypoint has become clear; and instruct the UAV to navigate to the received waypoint. ### Claim 13 (depends on 11) The system of claim 11, wherein the instruction defines at least one action to be performed at a destination by the UAV, wherein the at least one action is any one of: lowering a hover height, and releasing a payload. ### Claim 14 (depends on 11) The system of claim 11, wherein the system is further configured to: generate a navigation plan. ### Claim 15 (depends on 14) The system of claim 14, wherein the system is further configured to: receive at least a set of destination coordinates included in a digital terrain map; and determine, based on the received destination coordinates, a plurality of waypoints from an origin to a destination. ### Claim 16 (depends on 15) The system of claim 15, wherein the system is further configured to: provide the navigation plan to the UAV. ### Claim 17 (depends on 16) The system of claim 16, wherein the system is further configured to: determine whether a subsequent waypoint based on the navigation plan, of the at least one waypoint, is a destination waypoint, where, if the subsequent waypoint is a destination waypoint, destination instructions are sent to the UAV. ### Claim 18 (depends on 11) The system of claim 11, wherein the system is further configured to: employ an emergency protocol on the UAV in a response to an emergency command. ### Claim 19 (depends on 11) The system of claim 11, wherein the system is further configured to: instruct the UAV to hover at the received waypoint's emergency height, until an emergency event is over.