# US 8,543,255 B2 · Apparatus and method for controlling an unmanned vehicle

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- Number: US 8,543,255 B2
- Document ID: US8543255B2
- Status: Granted
- Kind: B2
- Application number: 12/492,713
- Filed: 2009-06-26
- Published: 2009-12-31
- Granted: 2013-09-24
- Earliest claimed: 2008-06-27
- Assignees: Raytheon Company
- Applicants: Joanne E. Wood; Jamil R. Hashimi; Fred G. Thourot; Stephen P. Johnson; Russell W. Goff; Douglas Carroll
- Inventors: Joanne E. Wood; Jamil R. Hashimi; Fred G. Thourot; Stephen P. Johnson; Russell W. Goff; Douglas Carroll
- Web page: https://patentgrep.com/patent/US8543255B2

## CPC

- G05D 1/0011: {associated with a remote control arrangement}
- 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 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)}
- H04B 7/18506: {Communications with or from aircraft, i.e. aeronautical mobile service}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- H04B: TRANSMISSION

## Abstract

In one or more embodiments, an apparatus and method for operating an unmanned and autonomous vehicle includes a sensor management module configured to direct sensors as to what function they are to provide; a mission management module configured to provide execute function capabilities; an effects management module configured to provide launching and directing weapons to their target capabilities; a vehicle management module; a situation awareness management module configured to provide correlate sensor data of objects, threats, targets, geographic points of interest that the pilot requires in the immediate environment; a communications management module; an information management module configured to provide a database of intelligence-related data; a middleware module configured to interface with the sensor management module, the mission management module, the effects management module, the vehicle management module, the situation awareness management module, the communications management module, and the information management module.

## Claims

### Claim 1

A system comprising:
a command element configured to receive and collect information from an information source and to transmit commands based, in part, on the collected information, to a subordinate element,
wherein the subordinate element including one or more unmanned and autonomous vehicles that are configured to perform functions including intelligence gathering and tactical operations, and
wherein each of the one or more unmanned and autonomous vehicles is configured to be able to re-plan the functions to incorporate updated information received from local sources while being deployed as the subordinate element.

### Claim 2 (depends on 1)

The system according to claim 1, wherein the intelligence gathering includes one or more of intelligence, surveillance and reconnaissance operations.

### Claim 3 (depends on 1)

The system according to claim 1, wherein the tactical operations includes one or more of planning, delivery and effectiveness assessment of weapons delivery to a target.

### Claim 4 (depends on 1)

The system according to claim 1, wherein the command element is configured to maintain situational awareness of a space in which the subordinate element operates.

### Claim 5 (depends on 1)

The system according to claim 1, wherein the one or more unmanned and autonomous vehicles includes a leader vehicle if at least two vehicles are designated in a group.

### Claim 6 (depends on 5)

The system according to claim 5, wherein the leader vehicle is configured to perform dynamic planning and re-planning for a follower vehicle in the group.

### Claim 7 (depends on 6)

The system according to claim 6, wherein the leader vehicle is configured to adapt, re-task and re-plan a pre-planned mission plan based on commands transmitted by the command element.

### Claim 8 (depends on 7)

The system according to claim 7, wherein the leader vehicle is configured to transmit the re-tasked and re-planned mission plan to the follower vehicle in the group.

### Claim 9 (depends on 6)

The system according to claim 6, wherein the leader vehicle and the follower vehicle are configured to communication using a different communication mechanism than was used to transmit the commands from the command element.

### Claim 10 (depends on 1)

The system according to claim 1, wherein the command element is configured to operate on either a land-based, water-based, or air-based platform remote from the subordinate element.

### Claim 11 (depends on 1)

The system according to claim 1, wherein the subordinate element is configured to operate on either a land-based, water-based, or air-based platform remote from the command element.

### Claim 12 (depends on 1)

The system according to claim 1, wherein the command element is configured to receive user input to command functions on the subordinate element.