Object tracking using a cognitive heterogeneous ad hoc mesh network
Embodiments described herein are directed to a tracking objects using a cognitive heterogeneous ad hoc mesh network. Participant objects transmit notification signals to inform other participant objects in line-of-sight of their position and movement. The participants also utilize echoes of the notification signals to detect and estimate the position and movement of non-participant objects. Participant objects can then share this positional information with one another to refine the estimated position and movement of non-participant objects. The position of each other participant and non-participant object is updated based on an individualized update rate that dynamically changes based on the distance and velocity of closure between the participant and the other participant or non-participant object.
1. A system, comprising:
a transmitter;
a receiver;
a memory that stores computer instructions; and
a processor that executes the computer instructions to perform actions, including:
determining positional information of a first mobile participant;
transmitting, via the transmitter, a line-of-sight notification signal that includes the positional information of the first mobile participant;
receiving, via the receiver and from the notification signal bouncing off an object, an echo signal that includes the positional information of the first mobile participant; and
determining a position of the object based on first object positional information using the received echo signal;
determining an accuracy of the determined position of the object;
requesting second object positional information of the object from a second mobile participant when the accuracy is below a threshold value;
receiving the second object positional information of the object from the second mobile participant; and
determining an updated position of the object based on a combination of the first and second object positional information.
2. The system of claim 1 , wherein the positional information of the first mobile participant includes a position and kinematic information of the first mobile participant.
3. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
providing the updated position of the object to the second mobile participant.
4. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
receiving a request for third object positional information of the object from the second mobile participant to update a position of the object determined by the second mobile participant; and
providing the determined position of the object to the second mobile participant as the third object positional information.
5. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
receiving a request for positioning information of the object from a third mobile participant; and
providing the updated position of the object to the third mobile participant.
6. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
setting an update rate for updating the determined position of the object;
determining a distance and a velocity of closure between the object and the first mobile participant based on the determined position of the object and the positional information of the first mobile participant;
modifying the update rate to update the determined position of the object based on a combination of the distance and the velocity of closure; and
determining an updated position of the object at the modified update rate.
7. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
determining a relationship between a distance and a velocity of closure between the object and the first mobile participant based on the determined position of the object and the positional information of the first mobile participant;
increasing an update rate to update the determined position of the object at a higher rate in response to the relationship exceeding a first threshold,
decreasing the update rate to update the determined position of the object at a lower rate in response to the relationship being less than a second threshold; and
determining an updated position of the object based on the update rate.
8. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
transmitting, via the transmitter, a second notification signal having the positional information of the first mobile participant;
receiving, via the receiver and from the second notification signal bouncing off the object, a second echo signal having the positional information of the first mobile participant; and
updating the determined position of the object based on the second echo signal.
9. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
setting an update rate for updating the determined position of the object;
modifying the update rate to update the determined position of the object based on at least one of the following:
a distance between the object and the first mobile participant,
a velocity of closure between the object and the first mobile participant,
a probability of crossing trajectories between the object and the first mobile participant,
a maneuverability of the object,
a maneuverability of the first mobile participant, or
one or more environmental conditions associated with the object and the first mobile participant; and
updating the determined position of the object based on the modified update rate.
10. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
determining an updated accuracy of the updated position of the object;
increasing an update rate when the updated accuracy is below the threshold value;
decreasing the update rate when the updated accuracy is above the threshold value; and
updating the determined position of the object based on the update rate.
11. The system of claim 1 , wherein the processor executes the computer instructions to perform further actions, comprising:
performing a maneuver based on the determined position of the object with respect to the positional information of the first mobile participant.
12. The system of claim 1 , wherein determining the position of the object includes:
identifying a time-of-flight value from sending the notification signal to receiving the echo signal;
identifying an angle-of-arrival value of the echo signal; and
determining the position of the object relative to the first mobile participant based on the time-of-flight value and the angle-of-arrival value.
13. A method, comprising:
determining, by a computing device, positional information of a first mobile participant;
transmitting, by the computing device, a line-of-sight notification signal that includes the positional information of the first mobile participant;
receiving, by the computing device and from the notification signal bouncing off an object, an echo signal that includes the positional information of the first mobile participant; and
determining, by the computing device, a position of the object based on first object positional information using the received echo signal;
determining, by the computing device, an accuracy of the determined position of the object;
requesting, by the computing device, second object positional information of the object from a second mobile participant when the accuracy is below a threshold value;
receiving, by the computing device, the second object positional information of the object from the second mobile participant; and
determining, by the computing device, an updated position of the object based on a combination of the first and second object positional information.
14. The method of claim 13 , further comprising:
setting, by the computing device, an update rate for updating the determined position of the object;
determining, by the computing device, a distance and a velocity of closure between the object and the first mobile participant based on the determined position of the object and the positional information of the first mobile participant;
modifying, by the computing device, the update rate to update the determined position of the object based on a combination of the distance and the velocity of closure; and
determining, by the computing device, an updated position of the object at the modified update rate.
15. The method of claim 13 , further comprising:
determining, by the computing device, a relationship between a distance and a velocity of closure between the object and the first mobile participant based on the determined position of the object and the positional information of the first mobile participant;
increasing, by the computing device, an update rate to update the determined position of the object at a higher rate in response to the relationship exceeding a first threshold,
decreasing, by the computing device, the update rate to update the determined position of the object at a lower rate in response to the relationship being less than a second threshold; and
determining, by the computing device, an updated position of the object based on the update rate.
16. The method of claim 13 , further comprising:
setting, by the computing device, an update rate for updating the determined position of the object;
modifying, by the computing device, the update rate to update the determined position of the object based on at least one of the following:
a distance between the object and the first mobile participant,
a velocity of closure between the object and the first mobile participant,
a probability of crossing trajectories between the object and the first mobile participant,
a maneuverability of the object,
a maneuverability of the first mobile participant, or
one or more environmental conditions associated with the object and the first mobile participant; and
updating, by the computing device, the determined position of the object based on the modified update rate.
17. The method of claim 13 , further comprising:
determining, by the computing device, an updated accuracy of the updated position of the object;
increasing, by the computing device, an update rate when the updated accuracy is below the threshold value;
decreasing, by the computing device, the update rate when the updated accuracy is above the threshold value; and
updating, by the computing device, the determined position of the object based on the update rate.
18. A non-transitory computer-readable medium having stored computing instructions that, when executed by at least one processor, cause the at least one processor to:
determine positional information of a first mobile participant;
transmit a line-of-sight notification signal that includes the positional information of the first mobile participant;
receive, from the notification signal bouncing off an object, an echo signal that includes the positional information of the first mobile participant; and
determine a position of the object based on first object positional information using the received echo signal;
determine an accuracy of the determined position of the object;
request second object positional information of the object from a second mobile participant when the accuracy is below a threshold value;
receive the second object positional information of the object from the second mobile participant; and
determine an updated position of the object based on a combination of the first and second object positional information.
19. The non-transitory computer-readable medium of claim 18 , wherein the computing instructions, when executed by the at least one processor, further cause the at least one processor to:
determine a relationship between a distance and a velocity of closure between the object and the first mobile participant based on the determined position of the object and the positional information of the first mobile participant;
increase an update rate to update the determined position of the object at a higher rate in response to the relationship exceeding a first threshold,
decrease the update rate to update the determined position of the object at a lower rate in response to the relationship being less than a second threshold; and
determine an updated position of the object based on the update rate.
20. The non-transitory computer-readable medium of claim 18 , wherein the computing instructions, when executed by the at least one processor, further cause the at least one processor to:
determine an updated accuracy of the updated position of the object;
increase an update rate when the updated accuracy is below the threshold value;
decrease the update rate when the updated accuracy is above the threshold value; and
update the determined position of the object based on the update rate.