# US 12,009,902 B2 · Method for exchanging data between drones of a drone swarm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,009,902 B2 - Document ID: US12009902B2 - Status: Granted - Kind: B2 - Application number: 17/294,838 - Filed: 2019-11-22 - Published: 2022-01-20 - Granted: 2024-06-11 - Earliest claimed: 2018-11-23 - Assignees: Thales - Applicants: Thales - Inventors: Ludovic Perruchot; Philippe Antier; Vincent Ligeret; Jérôme Achart - Web page: https://patentgrep.com/patent/US12009902B2 ## CPC - H04B 7/18506: {Communications with or from aircraft, i.e. aeronautical mobile service} - H04B 10/1129: {Arrangements for outdoor wireless networking of information} - 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 - H04W 4/46: for vehicle-to-vehicle communication [V2V] - H04W 64/00: Locating users or terminals {or network equipment} for network management purposes, e.g. mobility management - B64U 2201/102: adapted for flying in formations - H04W 4/02: Services making use of location information - H04W 84/06: Airborne or Satellite Networks (space-based or airborne stations H04B7/185) - H04B: TRANSMISSION - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract The present invention relates to a method for exchanging data between drones of a drone swarm comprising at least four drones, the method comprising: emitting, by each drone, a signal comprising data to be emitted comprising the identifier of the drone, the direction and the identifier of each signal received at the preceding moment by the drone, receiving, by a drone, called receiver drone, the signal emitted by another drone of the swarm, determining, by the receiver drone, the direction of each received signal, and determining, by the receiver drone, for each received signal, the relative position of the drone corresponding to the identifier of the received signal. ## Claims ### Claim 1 A method for exchanging data between drones of a swarm of drones, the swarm of drones comprising at least four drones, each drone being provided with an identifier specific to the drone, each drone comprising at least one transmitter, at least one receiver and a computer, each receiver comprising a pixel matrix configured so that each signal is received on a number of pixels of the pixel matrix that is strictly less than a total number of pixels of the pixel matrix, the method comprising, at each moment: emitting, by the transmitter of each drone, a signal comprising data to be emitted, the data to be emitted comprising the identifier of the drone, as well as a direction and the identifier of each signal received at a preceding moment by the receiver of the drone, receiving, by the receiver of at least one drone, called the receiver drone, the signal emitted by at least one other drone of the swarm, determining, by the computer of each receiver drone, the direction of each signal received as a function of a position of the pixel or pixels of the pixel matrix receiving the signal, and determining, by the computer of each receiver drone, for each received signal, a relative position of the drone corresponding to the identifier of the received signal as a function of the direction determined for the received signal and of at least two directions obtained at the preceding moment by the receiver of the receiver drone and corresponding to a same identifier as the received signal. ### Claim 2 (depends on 1) The method according to claim 1, wherein the receiver of each drone comprises an event detection sensor, the pixel matrix being comprised in the event detection sensor. ### Claim 3 (depends on 1) A method according to claim 1, wherein at least one of the drones, referred to as a reference drones, is associated with an absolute position, the data to be emitted by the transmitter of the reference drone comprising the absolute position of the reference drone, the method further comprising the determination, by each receiver drone receiving the signal emitted by the reference drone, of the absolute position of each drone for which a relative position has been determined by the receiver drone as a function of the absolute position of the reference drone and the relative positions determined by the receiver drone. ### Claim 4 (depends on 3) The method according to claim 3, wherein the or at least one of the reference drones is stationary on a ground. ### Claim 5 (depends on 3) The method according to claim 3, wherein the or at least one of the reference drones carries an absolute location system. ### Claim 6 (depends on 1) The method according to claim 1, wherein at least one of the drones of the swarm comprises a sensor configured to detect a presence of objects in a field of the sensor, the method comprising, at each moment, for the drone: detecting objects in the field of the sensor, and for each detected object, classifying the object as foreign to the swarm of drones when no signal is received from the object or when the signal received for the object does not comprise the identifier of a drone in the swarm. ### Claim 7 (depends on 1) The method according to claim 1, wherein each transmitter is a wide field transmitter. ### Claim 8 (depends on 7) The method according to claim 7, wherein each transmitter is configured to transmit signals over a solid angle of at least 2π steradians. ### Claim 9 (depends on 8) The method according to claim 8, wherein each drone comprises at least two diametrically opposed transmitters so as to transmit signals over a solid angle of 4π steradians. ### Claim 10 (depends on 1) The method according to claim 1, wherein the transmitter of each drone is a laser transmitter. ### Claim 11 (depends on 10) The method according to claim 10, wherein the laser transmitter of each drone is in a wavelength range of between 0.7 micrometers and 1.6 micrometers. ### Claim 12 (depends on 1) The method according to claim 1, wherein each receiver is a wide field receiver. ### Claim 13 (depends on 1) A drone swarm comprising at least four drones, each drone being provided with an identifier unique to the drone, each drone comprising at least one transmitter, at least one receiver and a computer, each receiver comprising a pixel matrix configured so that each signal is received on a number of pixels of the pixel matrix that is strictly less than the total number of pixels of the pixel matrix, the swarm of drones being suitable for implementing a data exchange method according to claim 1.