# US 6,725,152 B2 · Real-time route and sensor planning system with variable mission objectives

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 6,725,152 B2
- Document ID: US6725152B2
- Status: Granted
- Kind: B2
- Application number: 10/079,959
- Filed: 2002-02-21
- Published: 2003-12-11
- Granted: 2004-04-20
- Earliest claimed: 2002-02-21
- Assignees: Lockheed Martin Corporation
- Inventors: Abha Moitra; Robert M. Mattheyses; Robert J. Szczerba; Louis J. Hoebel; Virginia A. Didomizio; Boris Yamrom
- Web page: https://patentgrep.com/patent/US6725152B2

## CPC

- G06Q 10/047: Optimisation of routes or paths, e.g. travelling salesman problem
- 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

## Abstract

A method routes an entity (200) through a predetermined area for scanning the content of the predetermined area. The method includes the steps of: partitioning the predetermined area into cells (100); determining a starting cell for the entity (200); initiating a scan of a number of the cells from the starting cell and determining the content of each of the number of cells; and determining a total cost for the entity (200) to travel to each of the scanned cells and to perform a scan from each of the scanned cells.

## Claims

### Claim 1

A method for routing an entity through a predetermined area and for scanning the content of the predetermined area, said method comprising the steps of:
partitioning the predetermined area into cells;
determining a starting cell for the entity;
initiating a scan of a number of the cells from the starting cell and determining the content of each of the number of cells; and
determining a total cost for the entity to travel to each of the scanned cells and performing a scan from each of the scanned cells.

### Claim 2 (depends on 1)

The method as set forth in claim 1 wherein said cost determining step comprises:
determining a travel cost for the entity to travel to each of the scanned cells; and
determining a scan cost for performing a scan from each of the scanned cells.

### Claim 3 (depends on 1)

The method as set forth in claim 1 further including the step of determining a next scan with a minimum total cost.

### Claim 4 (depends on 3)

The method as set forth in claim 3 further including a step determining movement of the entity to the next scan cell.

### Claim 5 (depends on 3)

The method as set forth in claim 3 further including the step of redesignating the next scan cell as the starting cell.

### Claim 6 (depends on 1)

The method as set forth in claim 1 further including the step of starting said method over again.

### Claim 7 (depends on 2)

The method as set forth in claim 2 further comprising the step of algebraically transforming the cost of traveling to a next scan cell.

### Claim 8 (depends on 2)

The method as set forth in claim 2 further comprising the step of algebraically transforming the scan cost.

### Claim 9 (depends on 1)

The method as set forth in claim 1 further comprising the step of subtracting a benefit amount from the total cost.

### Claim 10

A computer program product for determining a route for an entity through a predetermined area and for analyzing the content of the predetermined area, said product comprising:
a first procedure that partitions the predetermined area into cells;
a second procedure that determines a starting cell for the entity;
a third procedure that initiates a scan of a number of the cells from the starting cell and determines the content of each of the number of cells; and
a fourth procedure that determines a total cost for the entity to travel to each of the scanned cells and for performing a scan from each of the scanned cells.

### Claim 11 (depends on 10)

The computer program product as set forth in claim 10 further including a fifth procedure that selects a next scan with a minimum total cost.

### Claim 12 (depends on 10)

The computer program product as set forth in claim 10 further including a fifth procedure for determining movement of the entity to the next scan cell.

### Claim 13 (depends on 10)

The computer program product as set forth in claim 10 further including a fifth procedure that redesignates the next scan cell as the starting cell.

### Claim 14 (depends on 10)

The computer program product as set forth in claim 10 further including a fifth procedure that returns to the third procedure.

### Claim 15 (depends on 10)

The computer program product as set forth in claim 10 wherein said fourth procedure further includes algebraically transforming the total cost.

### Claim 16 (depends on 15)

The computer program product as set forth in claim 15 wherein said fourth procedure further includes subtracting a benefit amount of each cell from the total cost.