MULTI-RECEIVER DISTRIBUTED PEN MAPPING

1 . A computer-implemented method comprising:

transmitting, by an emitter, a signal;

receiving, by each of multiple sensors located at different, predetermined positions on a semi-rigid structure, the signal;

determining, by each of the multiple sensors, timing information for the signal;

determining, using the timing information for each sensor, a current shape of the semi-rigid structure; and

controlling an item of equipment based on the current shape of the semi-rigid structure.

2 . The method of claim 1 , wherein the timing information for the signal comprises:

a sensor identification;

a signal type; and

a time of arrival of the signal type.

3 . The method of claim 1 , comprising:

using the determined shape of the semi-rigid structure, generating a model of the semi-rigid structure; and

providing for display to a user device, the model of the semi-rigid structure.

4 . The method of claim 1 , comprising:

receiving data from the sensors indicating environmental conditions;

using the data from the sensors indicating environmental conditions and the received signals, predicting a future shape of the semi-rigid structure; and

controlling the item of equipment based on the predicted future shape of the semi-rigid structure.

5 . The method of claim 1 , wherein determining, using the timing information for each sensor, a current shape of the semi-rigid structure comprises:

using a first model, representing the shape of the semi-rigid structure, that includes the location of each sensor with relation to each other sensor, generating a second model that represents the current shape of the semi-rigid structure.

6 . A computer-implemented method comprising:

receiving data indicating locations of sensors, relative to each other;

receiving data indicating a time of arrival of a signal at the sensors; and

generating, using the data indicating the location of the sensors and the data indicating the time of arrival of the signal at the sensors, a model representative of the location of each of the sensors.

7 . The method of claim 6 , comprising:

using the generated model, providing for display an image representative of the location of the sensors in 3D space.

8 . The method of claim 6 , comprising:

determining, using the generated model, whether the sensors are likely to collide with equipment; and

in response to the determination, controlling one or more pieces of equipment to move such that the collision is less likely.

9 . The method of claim 6 , wherein, the sensors are coincidental with a semi-rigid structure.

10 . The method of claim 6 , comprising:

emitting, from a known location, a signal receivable by the sensors.

11 . A system comprising one or more computers and one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:

transmitting, by an emitter, a signal;

receiving, by each of multiple sensors located at different, predetermined positions on a semi-rigid structure, the signal;

determining, by each of the multiple sensors, timing information for the signal;

determining, using the timing information for each sensor, a current shape of the semi-rigid structure; and

controlling an item of equipment based on the current shape of the semi-rigid structure.

12 . The system of claim 11 , wherein the timing information for the signal comprises:

a sensor identification;

a signal type; and

a time of arrival of the signal type.

13 . The system of claim 11 , comprising:

using the determined shape of the semi-rigid structure, generating a model of the semi-rigid structure; and

providing for display to a user device, the model of the semi-rigid structure.

14 . The system of claim 11 , comprising:

receiving data from the sensors indicating environmental conditions;

using the data from the sensors indicating environmental conditions and the received signals, predicting a future shape of the semi-rigid structure; and

controlling the item of equipment based on the predicted future shape of the semi-rigid structure.

15 . The system of claim 11 , wherein determining, using the timing information for each sensor, a current shape of the semi-rigid structure comprises:

using a first model, representing the shape of the semi-rigid structure, that includes the location of each sensor with relation to each other sensor, generating a second model that represents the current shape of the semi-rigid structure.

16 . A system comprising one or more computers and one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:

receiving data indicating locations of sensors, relative to each other;

receiving data indicating a time of arrival of a signal at the sensors; and

generating, using the data indicating the location of the sensors and the data indicating the time of arrival of the signal at the sensors, a model representative of the location of each of the sensors.

17 . The system of claim 16 , comprising:

using the generated model, providing for display an image representative of the location of the sensors in 3D space.

18 . The system of claim 16 , comprising:

determining, using the generated model, whether the sensors are likely to collide with equipment; and

in response to the determination, controlling one or more pieces of equipment to move such that the collision is less likely.

19 . The system of claim 16 , wherein, the sensors are coincidental with a semi-rigid structure.

20 . The system of claim 16 , comprising:

emitting, from a known location, a signal receivable by the sensors.