Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array
A method, system and apparatus to detect when one or more airborne unmanned aerial vehicles (drones) are close to each other, and to take necessary actions to maintain a minimum distance between drones as well as a maximum distance among the drones in a dynamic environment by automatic navigation. A computer method and apparatus for holding a group of drones in a swarm formation by maintaining the group centroid of the group of drones within a tolerance of a predetermined location is also disclosed. Additionally, methods to move a swarm of drones along a predetermined path while maintaining the swarm formation of the drones is also disclosed.
1. A method comprising
controlling a flight of a first unmanned aerial vehicle and
controlling a flight of a plurality of second unmanned aerial vehicles;
wherein the flight of the first unmanned aerial vehicle and the flight of the plurality of second unmanned aerial vehicles are controlled so that each of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles is kept at least a first distance away from any other of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles;
and wherein the flight of the first unmanned aerial vehicle and the flight of the plurality of second unmanned aerial vehicles are controlled so that each of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles is kept less than a second distance away from any other of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles;
wherein the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles together have a group centroid whose location varies with time as the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles move over time;
wherein the group centroid is a geometric center of a collection of points including a first point associated with the first unmanned aerial vehicle, and a plurality of further points, one associated with each of the plurality of second unmanned aerial vehicles;
and further comprising determining a first location of the group centroid at a first instant in time; and
determining if the first location of the group centroid is within a tolerance distance of a first predetermined location.
2. The method of claim 1 wherein
the flight of the first unmanned aerial vehicle is controlled by controlling a direction in which the first unmanned aerial vehicle travels; and
the flight of each of the plurality of second unmanned aerial vehicles is controlled by controlling a direction in which each of the plurality of second unmanned aerial vehicles travels.
3. The method of claim 1 wherein
the flight of the first unmanned aerial vehicle is controlled by controlling a speed at which the first unmanned aerial vehicle travels; and
the flight of each of the plurality of second unmanned aerial vehicles is controlled by controlling a speed at which each of the plurality of second unmanned aerial vehicles travels.
4. The method of claim 1 further comprising
if the first location of the group centroid is not within the tolerance distance of the first predetermined location, controlling the flight of one or more of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles so that a second location of the group centroid at a second instant in time is within the tolerance distance of the first predetermined location or a second predetermined location.
5. The method of claim 4 wherein
the first predetermined location and the second predetermined location are located on a desired path;
and wherein the difference between the first instant of time and the second instant of time is a clock cycle time period;
and further comprising, determining, at least once for every clock cycle time period, for a plurality of clock cycle time periods, whether the group centroid is within the tolerance distance of the desired path.
6. The method of claim 5 further comprising
if the group centroid is not within the tolerance distance of the desired path during a current clock cycle time period, controlling the flight of one or more of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles so that the group centroid is within the tolerance distance of the desired path during a subsequent clock cycle time period occurring after the current clock cycle time period.
7. The method of claim 1 further comprising
and wherein after the flight of the first unmanned aerial vehicle and the flight of the plurality of second unmanned aerial vehicles are controlled for a first period of time so that each of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles is kept less than a second distance away from each of the other of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles,
the flight of the first unmanned aerial vehicle and the flight of the plurality of second unmanned aerial vehicles are controlled for a second period of time, following the first period of time, so that each of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles is allowed to be more than the second distance away and is kept less than a third distance away from each of the other of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles; and wherein the third distance is greater than the second distance.
8. The method of claim 7 further comprising
determining a second location of the group centroid at a second instant of time during the second period of time; and
determining if the second location of the group centroid is within the tolerance distance of a second predetermined location.