# US 12,007,791 B2 · Multi-drone/sensor platform with information lateralization and federated path planning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,007,791 B2 - Document ID: US12007791B2 - Status: Granted - Kind: B2 - Application number: 17/317,672 - Filed: 2021-05-11 - Published: 2021-11-11 - Granted: 2024-06-11 - Earliest claimed: 2020-05-11 - Assignees: Soter Technology, LLC - Applicants: Soter Technology Inc - Inventors: Sepehre Bigdeli; Tara Javidi; Kayvan Alikhani - Web page: https://patentgrep.com/patent/US12007791B2 ## 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 1/104: {involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00)} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - G05D 1/695: for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight - G06N 3/0464: Convolutional networks [CNN, ConvNet] - G06N 3/088: Non-supervised learning, e.g. competitive learning - G06N 3/09: Supervised learning - G06N 3/092: Reinforcement learning - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/34: for flight plan modification - G08G 5/53: for cruising - G08G 5/55: for a single aircraft - G08G 5/56: for two or more aircraft - G08G 5/57: for unmanned aircraft - G08G 5/76: for monitoring atmospheric conditions - H04L 67/125: involving control of end-device applications over a network - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - G06N 3/006: based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO] - G06N 3/045: Combinations of networks - H04L 67/12: specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - 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}) - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Disclosed herein is a device for facilitating managing of paths for unmanned vehicles. Further, the device is configured to be communicatively coupled with the unmanned vehicles. Further, the device comprises a communication device configured for receiving heterogeneous information from sensors and transmitting commands to unmanned vehicles. Further, the device comprises a processing device communicatively coupled with the communication device. Further, the processing device is configured for integrating the heterogeneous information, generating integrated information based on the integrating, analyzing the integrated information based on paths assigned to the unmanned vehicles for performing a mission, determining an adjustment required to be made in the paths by the plurality of unmanned vehicles, and generating the commands for the unmanned vehicles. Further, the device comprises a storage device communicatively coupled with the processing device. Further, the storage device is configured for storing the paths. ## Claims ### Claim 1 A device for facilitating managing of paths for unmanned vehicles, wherein the device is configured to be communicatively coupled with the unmanned vehicles, wherein the device comprises: a communication device configured for: receiving a plurality of heterogeneous information from a plurality of sensors associated with a plurality of unmanned vehicles, wherein the plurality of sensors is configured for generating the plurality of heterogeneous information of an environment from a plurality of field of views of the plurality of sensors, wherein a heterogeneity of the plurality of heterogeneous information is based on the plurality of field of views, wherein the plurality of field of views is hierarchically nested based on a hierarchical order of the plurality of unmanned vehicles, wherein the plurality of heterogeneous information is hierarchically nested based on hierarchical nesting of the plurality of field of views, wherein a primary field of view of a primary sensor associated with a primary unmanned vehicle of a higher hierarchical order includes a secondary field of view of a secondary sensor associated with a secondary unmanned vehicle of a lower hierarchical order, wherein the primary sensor is configured for generating primary information of the plurality of heterogeneous information associated with the environment from the primary field of view and the secondary sensor is configured for generating secondary information of the plurality of heterogeneous information associated with the environment from the secondary field of view, wherein the primary information includes the secondary information based on the hierarchical nesting of the plurality of field of views, wherein the plurality of sensors comprises at least one moving sensor and at least one stationary sensor, wherein the at least one moving sensor is mounted on at least one unmanned vehicle of the plurality of unmanned vehicles, wherein the at least one moving sensor traverses the environment based on the traversing of the at least one unmanned vehicle of the plurality of unmanned vehicles, wherein the at least one stationary sensor is stationarily placed in the environment; and transmitting a plurality of commands to the plurality of unmanned vehicles, wherein the plurality of unmanned vehicles is configured for traversing the environment based on the plurality of commands, wherein the plurality of unmanned vehicles is configured for performing at least one mission based on the traversing; a processing device communicatively coupled with the communication device, the processing device is configured for: integrating the plurality of heterogeneous information; generating integrated information of the environment based on the integrating; analyzing the integrated information based on a plurality of paths assigned to the plurality of unmanned vehicles for performing the at least one mission; determining an adjustment required to be made in the plurality of paths by the plurality of unmanned vehicles based on the analyzing; and generating the plurality of commands for the plurality of unmanned vehicles based on the determining of the adjustment; and a storage device communicatively coupled with the processing device, wherein the storage device is configured for storing the plurality of paths assigned to the plurality of unmanned vehicles for performing the at least one mission; the integrating of the plurality of heterogeneous information comprises integrating the plurality of heterogeneous information using at least one machine learning model, wherein the at least one machine learning model is trained to integrate heterogeneous information, wherein the generating of the integrated information is further based on the integrating of the plurality of heterogeneous information using the at least one machine learning model; the plurality of sensors is configured for detecting an appearance of at least one object in the environment from the plurality of field of views based on the traversing of the environment by the plurality of unmanned vehicles, wherein the generating of the plurality of heterogeneous information is further based on the detecting; and receiving at least one sensor configuration associated with at least one sensor of the plurality of sensors from at least one user device, wherein the processing device is further configured for: analyzing the at least one sensor configuration; determining a modification in at least one field of view of the at least one sensor based on the analyzing of the at least one sensor configuration; and generating a field of view modification command for the at least one sensor based on the determining of the modification, wherein the at least one sensor is configured for modifying the at least one field of view based on the field of view modification command. ### Claim 2 (depends on 1) The device of claim 1, wherein the generating of the plurality of heterogeneous information comprises generating the plurality of heterogeneous information with a plurality of information characteristics, wherein the heterogeneity of the plurality of heterogeneous information is further based on a dissimilarity between the plurality of information characteristics of the plurality of heterogeneous information. ### Claim 3 (depends on 1) The device of claim 1, wherein the storage device is further configured for storing the plurality of heterogeneous information and the integrated information in a ledger. ### Claim 4 (depends on 1) The device of claim 1, wherein the communication device is further configured for receiving a mission initiation request for initiating the performing of the at least one mission from at least one user device, wherein the storage device is further configured for retrieving the plurality of paths associated with the plurality of unmanned vehicles. ### Claim 5 (depends on 4) The device of claim 4, wherein the processing device is further configured for: analyzing the plurality of paths based on the retrieving; assigning the plurality of unmanned vehicles based on the analyzing the plurality of paths; and determining the hierarchical order based on the assigning of the plurality of unmanned vehicles, wherein the hierarchical nesting of the plurality of field of views is further based on the determining of the hierarchical order. ### Claim 6 (depends on 1) The device of claim 1, wherein the plurality of sensors is configured for performing a plurality of functions, wherein the generating of the plurality of heterogeneous information is based on the performing of the plurality of functions, wherein the heterogeneity of the plurality of heterogeneous information is further based on a dissimilarity between the plurality of functions, wherein the processing device is further configured for assigning the plurality of functions to the plurality of unmanned vehicles based on the hierarchical order of the plurality of unmanned vehicles, wherein the plurality of heterogeneous information is hierarchically nested based on the assigning. ### Claim 7 (depends on 1) The device of claim 1, wherein the plurality of field of views of the plurality of sensors covers a plurality of portions of the environment, wherein the generating of the plurality of heterogeneous information comprises generating the plurality of heterogeneous information of the plurality of portions of the environment, wherein the heterogeneity of the plurality of heterogeneous information is further based on a dissimilarity between the plurality of portions of the environment. ### Claim 8 A device for facilitating managing of paths for unmanned vehicles, wherein the device is configured to be communicatively coupled with the unmanned vehicles, wherein the device comprises: a communication device configured for: receiving a plurality of heterogeneous information from a plurality of sensors associated with a plurality of unmanned vehicles, wherein the plurality of sensors is configured for generating the plurality of heterogeneous information of an environment from a plurality of field of views of the plurality of sensors, wherein a heterogeneity of the plurality of heterogeneous information is based on the plurality of field of views, wherein the plurality of field of views is hierarchically nested based on a hierarchical order of the plurality of unmanned vehicles, wherein the plurality of heterogeneous information is hierarchically nested based on hierarchical nesting of the plurality of field of views, wherein a primary field of view of a primary sensor associated with a primary unmanned vehicle of a higher hierarchical order includes a secondary field of view of a secondary sensor associated with a secondary unmanned vehicle of a lower hierarchical order, wherein the primary sensor is configured for generating primary information of the plurality of heterogeneous information associated with the environment from the primary field of view and the secondary sensor is configured for generating secondary information of the plurality of heterogeneous information associated with the environment from the secondary field of view, wherein the primary information includes the secondary information based on the hierarchical nesting of the plurality of field of views, wherein the plurality of sensors comprises at least one moving sensor and at least one stationary sensor, wherein the at least one moving sensor is mounted on at least one unmanned vehicle of the plurality of unmanned vehicles, wherein the at least one moving sensor traverses the environment based on the traversing of the at least one unmanned vehicle of the plurality of unmanned vehicles, wherein the at least one stationary sensor is stationarily placed in the environment; and transmitting a plurality of commands to the plurality of unmanned vehicles, wherein the plurality of unmanned vehicles is configured for traversing the environment based on the plurality of commands, wherein the plurality of unmanned vehicles is configured for performing at least one mission based on the traversing; a processing device communicatively coupled with the communication device, the processing device is configured for: integrating the plurality of heterogeneous information; generating integrated information of the environment based on the integrating; analyzing the integrated information based on a plurality of paths assigned to the plurality of unmanned vehicles for performing the at least one mission; determining an adjustment required to be made in the plurality of paths by the plurality of unmanned vehicles based on the analyzing; and generating the plurality of commands for the plurality of unmanned vehicles based on the determining of the adjustment; and a storage device communicatively coupled with the processing device, wherein the storage device is configured for storing the plurality of paths assigned to the plurality of unmanned vehicles for performing the at least one mission; the integrating of the plurality of heterogeneous information comprises integrating the plurality of heterogeneous information using at least one machine learning model, wherein the at least one machine learning model is trained to integrate heterogeneous information, wherein the generating of the integrated information is further based on the integrating of the plurality of heterogeneous information using the at least one machine learning model; the plurality of sensors is configured for detecting a value of at least one environmental condition of the environment from the plurality of field of views based on the traversing of the environment by the plurality of unmanned vehicles, wherein the generating of the plurality of heterogeneous information is further based on the detecting; and receiving at least one sensor configuration associated with at least one sensor of the plurality of sensors from at least one user device, wherein the processing device is further configured for: analyzing the at least one sensor configuration; determining a modification in at least one field of view of the at least one sensor based on the analyzing of the at least one sensor configuration; and generating a field of view modification command for the at least one sensor based on the determining of the modification, wherein the at least one sensor is configured for modifying the at least one field of view based on the field of view modification command. ### Claim 9 (depends on 8) The device of claim 8, wherein the generating of the plurality of heterogeneous information comprises generating the plurality of heterogeneous information with a plurality of information characteristics, wherein the heterogeneity of the plurality of heterogeneous information is further based on a dissimilarity between the plurality of information characteristics of the plurality of heterogeneous information. ### Claim 10 (depends on 8) The device of claim 8, wherein the plurality of sensors is configured for performing a plurality of functions, wherein the generating of the plurality of heterogeneous information is based on the performing of the plurality of functions, wherein the heterogeneity of the plurality of heterogeneous information is further based on a dissimilarity between the plurality of functions, wherein the processing device is further configured for assigning the plurality of functions to the plurality of unmanned vehicles based on the hierarchical order of the plurality of unmanned vehicles, wherein the plurality of heterogeneous information is hierarchically nested based on the assigning.