# US 2018/0321680 A1 · Underwater leading drone system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0321680 A1 - Document ID: US20180321680A1 - Status: Published application - Kind: A1 - Application number: 15/588,302 - Filed: 2017-05-05 - Published: 2018-11-08 - Earliest claimed: 2017-05-05 - Assignees: Pinnacle Vista, LLC - Applicants: Pinnacle Vista, LLC - Inventors: Haofeng Tu - Web page: https://patentgrep.com/patent/US20180321680A1 ## CPC - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - B63G 8/001: {Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42)} - G05D 1/0011: {associated with a remote control arrangement} - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - G08C 17/02: using a radio link - H04W 24/02: Arrangements for optimising operational condition - H04W 64/003: {locating network equipment} - B63B 2203/00: Communication means - B63G 2008/005: {remotely controlled} - B64U 80/84: Waterborne vehicles - B64U 2101/20: for use as communications relays, e.g. high-altitude platforms - B64U 2101/30: for imaging, photography or videography - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - B64U 2201/20: Remote controls - H04W 84/005: {Moving wireless networks} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B63G: OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS (means of attack or defence in general, e.g. turrets F41H) - G08C: TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS (fluid pressure transmitting systems F15B; mechanical means for transferring the output of a sensing member into a different variable G01D5/00; mechanical control systems G05G) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Systems and methods are provided for least one leading drone configured to move to a leading drone future location based on a future location of a base station. A set of base station future locations may form a base station path for the base station to traverse. Also, a set of leading drone future locations may form a leading drone path for the leading drone to traverse. The base station's future location may be anticipated from a prediction or a predetermination. The leading drone, navigating along the leading drone path, may collect sensor data and/or perform tasks. The leading drone may interact with sensor drones while traversing the leading drone path. Accordingly, the leading drone may move ahead of the base station in motion, as opposed to following or remaining with the base station. ## Claims ### Claim 1 A system comprising: a base station in the form of a watercraft having a pre-determined path of travel for the base station to traverse over water towards a target location; an aerial drone is configured to receive an information on the pre-determined path of travel for the base station and autonomously calculate an aerial drone path that directly correlates with the pre-determined path of travel for the base station; said aerial drone is configured to autonomously travel on said aerial drone path; said aerial drone is configured to collect aerial sensor data from the target location; and a submersed drone to traverse underwater and physically tethered to the aerial drone and is configured to collect underwater sensor data from the target location, the submersed drone is configured to send the underwater sensor data to the aerial drone, the aerial drone is configured to produce target location data from the aerial sensor data and the underwater sensor data. ### Claim 2 (depends on 1) The system of claim 1, wherein a cable connects the submersed drone with the aerial drone. ### Claim 3 (depends on 2) The system of claim 2, wherein the aerial drone tows the submersed drone via the cable. ### Claim 4 (depends on 1) The system of claim 1, the submersed drone is configured to move along a submersed drone path based on the aerial drone path. ### Claim 5 (depends on 4) The system of claim 4, wherein the submersed drone is configured to move along the submersed drone path behind the aerial drone. ### Claim 6 (depends on 1) The system of claim 1, wherein the submersed drone is self-propelled. ### Claim 7 (canceled) ### Claim 8 (depends on 1) The system of claim 1, wherein the the submersed drone is configured to move along a submersed drone path based on a movement of the aerial drone. ### Claim 9 (depends on 1) The system of claim 1, wherein the submersed drone is configured to move to the target location. ### Claim 10 (depends on 1) The system of claim 1, wherein the aerial drone is configured to send the target location data to the base station. ### Claim 11 (canceled) ### Claim 12 (canceled) ### Claim 13 (canceled) ### Claim 14 (depends on 1) The system of claim 1, wherein the aerial drone is configured to identify a base station configured to move from a current location; determine a future location of the base station; and move to an aerial drone location relative to the future location. ### Claim 15 (depends on 14) The system of claim 14, wherein the aerial drone location is at the future location. ### Claim 16 (depends on 14) The system of claim 14, wherein the aerial drone is configured to receive a control signal from the base station comprising the future location. ### Claim 17 (depends on 14) The system of claim 14, wherein the aerial drone is configured to determine the future location based on the current location. ### Claim 18 A system comprising: a base station in the form of a watercraft traveling over water towards a target location; an aerial drone configured to continuously receive an information on the location of the base station as the base station is traveling over water; said aerial drone is configured to autonomously travel with the base station and keep an a predetermined distance between the aerial drone and the base station, without first receiving information about the target location or without receiving information about a path of travel of the base station; a submersed drone to traverse underwater and physically tethered to the aerial drone, the submersed drone is configured to collect underwater sensor data from the target location, the submersed drone is configured to send the underwater sensor data to the aerial drone, the aerial drone is configured to send underwater sensor data to the base station. ### Claim 19 (depends on 18) The system as recited in claim 18, wherein the submersed drone is self-propelled.