Directing multiple targets without interference

A data processing system for directing or controlling each target of a plurality of targets, the system comprising:

• a processor;
• a memory;
• and
• a UTCD program including a plurality of instructions stored in the memory and executable by the processor to:
• receive departure and destination coordinates for each target of the plurality of targets;
• identify obstacles between the departure and destination coordinates;
• calculate an initial trajectory from the departure coordinates to the destination coordinates for each target of the plurality of targets;
• calculate an optimal trajectory for each target of the plurality of targets that meets one or more constraints and that is based on the initial trajectory, the one or more constraints including avoiding collisions with the remainder of the plurality of targets and with the identified obstacles;
• control each target of the plurality of targets along the optimal trajectory from the departure coordinates to the destination coordinates for each target of the plurality of targets, wherein, prior to any target of the plurality of targets moving, the optimal trajectory for each target of the plurality of targets is calculated and each target of the plurality of targets is directed or controlled along the optimal trajectory from the departure coordinates to the destinated coordinates;
• and
• wherein calculating an initial trajectory includes:
• expressing, using the data Processing system, a trajectory for each target of the plurality of targets by a polynomial;
• expressing, using the data processing system, each of the expressed polynomial as one or more matrices;
• and
• operating, using the data processing system, on the one or more expressed matrices to calculate the initial trajectory for each target of the plurality of targets;
• and
• wherein calculating an optimal trajectory includes:
• performing a plurality of calculation trials, wherein, in each trial, a potential trajectory is calculated using different potential values for one or more trajectory parameters;
• and
• comparing 2*n combinations of the potential values of the one or more trajectory parameters for each trial of the plurality of trials with an order of a polynomial, wherein n is the order of the polynomial.

A non-transitory computer-readable storage medium having computer-readable program code for directing or controlling each target of a plurality of targets, the computer readable program code comprising:

• at least one instruction to receive departure and destination coordinates for each target of a plurality of targets;
• at least one instruction to identify the coordinates of obstacles between the departure and destination coordinates using the same coordinate system as the departure and destination coordinates;
• at least one instruction to calculate an initial trajectory from the departure coordinates to the destination coordinates for each target of the plurality of targets;
• at least one instruction to calculate an optimal trajectory for each target of the plurality of targets that meets one or more constraints and that is based on the initial trajectory, the one or more constraints including avoiding collisions with the remainder of the plurality of targets and with the identified obstacles;
• at least one instruction to control each target of the plurality of targets along the optimal trajectory from the departure coordinates to the destination coordinates for each target of the plurality of targets, wherein, prior to any target of the plurality of targets moving, the optimal trajectory for each target of the plurality of targets is calculated and each target of the plurality of targets is directed or controlled along the optimal trajectory from the departure coordinates to the destinated coordinates;
• and
• wherein calculating an initial trajectory includes:
• expressing, using the data processing system, a trajectory for each target of the plurality of targets by a polynomial;
• expressing, using the data processing system, each of the expressed polynomial as one or more matrices;
• and
• operating, using the data processing system, on the one or more expressed matrices to calculate the initial trajectory for each target of the plurality of targets;
• and
• wherein calculating an optimal trajectory includes:
• performing a plurality of calculation trials, wherein, in each trial, a potential trajectory is calculated using different potential values for one or more trajectory parameters;
• and
• comparing 2*n combinations of the potential values of the one or more trajectory parameters for each trial of the plurality of trials with an order of a polynomial, wherein n is the order of the polynomial.