Collaborative spatial positioning

Disparate positional data derived from one or more positional determinative resources are fused with peer-to-peer relational data to provide an object with a collaborative positional awareness. An object collects positional determinative information from one or more positional resources so to independently determine its spatial location. That determination is thereafter augmented by peer-to-peer relational information that can be used to enhance positional determination and modify behavioral outcomes.

Distributed positioning and collaborative behavior determination

A system and its associated methodology for distributed positioning and collaborative behavioral determination among a group of objects, interactive tags associated with each of a plurality of objects provide to each object relative positional data and state information regarding the other nearby objects. Using this information, each object develops a spatial awareness of its environment, including the position and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective.

Asynchronous Data Stream Framework

An architecture comprising a hardware layer, a data collection layer and an execution layer lays the foundation for a behavioral layer that can asynchronously access abstracted data. A plurality of data sensors asynchronously collect data which is thereafter abstracted so as to be usable by one or more behavioral modules simultaneously. Each of the behaviors can be asynchronously executed as well as dynamically modified based on the collected abstracted data. Moreover, the behavior modules themselves are structured in a hierarchical manner among one or more layers such that outputs of behavior module associated with a lower layer may be the input to a behavior module of a higher letter. Conflicts between outputs of behavior modules are arbitrated and analyzed so as to conform with an overall mission objective. 1. An architecture for asynchronous robotic behavior , comprising:a hardware layer including a plurality of sensors operable to collect sensor data;a data collection layer wherein the data collection layer is operable to abstract collected data;a synchronous behavior layer having a plurality of distinct behaviors wherein each behavior is associated with at least one of at least two hierarchal behavioral levels and wherein higher behavioral levels arbitrate lower level behavior output; andan execution layer operable to asynchronously execute distinct behaviors responsive to behavior level arbitration.2. The architecture for asynchronous robotic behavior of claim 1 , wherein sensor data is collected asynchronously.3. The architecture for asynchronous robotic behavior of claim 1 , wherein sensor data is processed independent of the plurality of distinct behaviors.4. The architecture for asynchronous robotic behavior of claim 1 , wherein sensor data is uniquely abstracted for use by each of the plurality of distinct behaviors.5. The architecture for asynchronous robotic behavior of claim 1 , wherein sensor data from two or more sensors is aggregated into a data ...

Universal Payload Abstraction

Robotic payloads are abstracted to provide a plug-and-play system in which mission specific capabilities are easily configured on a wide variety of robotic platforms. A robotic payload architecture is presented in which robotic functionalities are bifurcated into intrinsic capabilities, managed by a core module, and mission specific capabilities, addressed by mission payload module(s). By doing so the core modules manages a particular robotic platform's intrinsic functionalities while mission specific tasks are left to mission payloads. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module. In each case the mission payload module communicates with the core module for information about the platform on which it is being associated. 1. A system for robotic hardware abstraction , comprising:a core module operable to provide intrinsic robotic functionality; andone or more mission payload modules communicatively coupled to the core module wherein each mission payload module is customized for a class of tasks.2. The system for robotic hardware abstraction according to claim 1 , wherein each mission payload module can operate with any core module.3. The system for robotic hardware abstraction according to claim 1 , wherein the core module is configured to enable wireless communication between a plurality of internal components including the plurality of sensors.4. The system for robotic hardware abstraction according to claim 1 , wherein the core module is configured to provide geospatial location information.5. The system for robotic hardware abstraction according to claim 1 , wherein intrinsic robotic functionality includes communication and location capabilities.6. The system for robotic hardware abstraction according to claim 1 , wherein intrinsic robotic functionality includes data processing.7. The system for robotic hardware abstraction according to claim 1 , wherein ...

Distributed Positioning and Collaborative Behavior Determination

A system and its associated methodology for distributed positioning and collaborative behavioral determination among a group of objects, interactive tags associated with each of a plurality of objects provide to each object relative positional data and state information regarding the other nearby objects. Using this information, each object develops a spatial awareness of its environment, including the position and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective.

Collaborative Spatial Positioning

Disparate positional data derived from one or more positional determinative resources are fused with peer-to-peer relational data to provide an object with a collaborative positional awareness. An object collects positional determinative information from one or more positional resources so to independently determine its spatial location. That determination is thereafter augmented by peer-to-peer relational information that can be used to enhance positional determination and modify behavioral outcomes. 1. A method for collaborative spatial position determination between objects , comprising:receiving by a first object positional information derived from one or more disparate position determination techniques;combining positional information from one or more disparate position determination techniques to determine a first object spatial position;establishing peer-to-peer communication between the first object to a second object; andexchanging between the first object and the second object positional information wherein the second object determines a second object spatial location based in part on positional information and peer-to-peer relational information received by the first object.2. The method for collaborative spatial position determination between objects according to claim 1 , wherein at least one of the one or more disparate position determination techniques is based on a range and an azimuth from a known position.3. The method for collaborative spatial position determination between objects according to claim 1 , wherein the second object determines the second object spatial location based claim 1 , in part claim 1 , on the first object spatial position.4. The method for collaborative spatial position determination between objects according to claim 1 , wherein at least one of the one or more disparate position determination techniques is based on an inertial navigation system.5. The method for collaborative spatial position determination between objects ...

Conflict Resolution Based on Object Behavioral Determination and Collaborative Relative Positioning

Using distributed positioning, collaborative behavioral determination, and probabilistic conflict resolution objects can independently identify and resolve potential conflicts before the occur. In one embodiment of the invention, interactive tags and other sensor resources associated with each of a plurality of objects provide among the objects relative positional data and state information. Using this information each object develops a spatial awareness of its environment, including the positional and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective and resolve potential conflicts. 1. A method for behavioral determination and conflict resolution by an object , comprising:identifying a presence of one or more nearby objects;developing a local spatial awareness of an environment including the one or more nearby objects wherein the local spatial awareness includes relative range, bearing and motion of each of the one or more nearby objects;establishing a communication link between the object and each of the one or more nearby objects wherein each object shares with each other object peer-to-peer relational data;correlating, the local spatial awareness of the local environment with a primary course of action of the object;determining one or more probabilistic conflicts between the local spatial awareness and the primary course of action of the object; andresponsive to determining one or more probabilistic conflicts, modifying a behavior of the object.2. The method for behavioral determination and conflict resolution b\ an object according to claim 1 , wherein modifying includes altering the primary course of action to resolve the one or more probabilistic conflicts.3. The method for behavioral determination and conflict resolution by an object according to claim 1 , wherein modifying includes replacing the primary course of action with a secondary course of action to resolve the one or more probabilistic ...

Collaborative Spatial Positioning

Disparate positional data derived from one or more positional determinative resources are fused with peer-to-peer relational data to provide an object with a collaborative positional awareness. An object collects positional determinative information from one or more positional resources so to independently determine its spatial location. That determination is thereafter augmented by peer-to-peer relational information that can be used to enhance positional determination and modify behavioral outcomes. 1. (canceled)2. A method for collaborative determination of a spatial position of an object , the method comprising:determining by the object from one or more object spatial determination techniques, a set of measurements describing a position of the object wherein each set of measurements has an associated variance estimation;measuring by the object a set of information describing a relation between the object and one or more proximate objects, wherein the relation has an associated relation variance estimation;receiving, by the object, from the one or more proximate objects a location of the one or more proximate objects and a variance associated with an accuracy of the location of the one or more proximate objects;updating continuously, the position of the object, each set of measurements and the associated variance estimate of each set of measurements, the set of information and the associated relation variance estimation, the location of the one or more proximate objects and the variance associated with the accuracy of the one or more proximate objects; andcombining one or more of the sets of measurements describing the position of the object, the set of information describing the relation between the object and the one or more proximate objects and the location of the one or more proximate objects, based on a weighted assessed value of the associated variance estimation, the associated relation variance estimation and the variance associated with the accuracy of ...

Conflict Resolution Based on Object Behavioral Determination and Collaborative Relative Positioning

Using distributed positioning, collaborative behavioral determination, and probabilistic conflict resolution objects can independently identify and resolve potential conflicts before the occur. In one embodiment of the invention, interactive tags and other sensor resources associated with each of a plurality of objects provide among the objects relative positional data and state information. Using this information each object develops a spatial awareness of its environment, including the positional and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective and resolve potential conflicts. 1. A method for behavioral determination and conflict resolution by an object , comprising:identifying a presence of one or more nearby objects;developing a local spatial awareness of an environment including the one or more nearby objects wherein the local spatial awareness includes relative range, bearing and motion of each of the one or more nearby objects;correlating the local spatial awareness of the local environment with a primary course of action of the object;determining one or more probabilistic conflicts between the local spatial awareness and the primary course of action of the object; andresponsive to determining one or more probabilistic conflicts, modifying a behavior of the object.2. The method for behavioral determination and conflict resolution by an object according to claim 1 , wherein modifying including altering the primary course of action to resolve the one or more probabilistic conflicts.3. The method for behavioral determination and conflict resolution by an object according to claim 1 , wherein modifying includes replacing the primary course of action with a secondary course of action to resolve the one or more probabilistic conflicts.4. The method for behavioral determination and conflict resolution by an object according to claim 1 , wherein the primary course of action is associated with a ...

Methods and systems relating to an augmented virtuality environment

Systems and methods relating to an augmented virtuality system are disclosed. A method of operating an augmented virtuality system may comprise displaying imagery of a real-world environment in an operating picture. The method may further include displaying a plurality of virtual icons in the operating picture representing at least some assets of a plurality of assets positioned in the real-world environment. Additionally, the method may include displaying at least one virtual item in the operating picture representing data sensed by one or more of the assets of the plurality of assets and remotely controlling at least one asset of the plurality of assets by interacting with a virtual icon associated with the at least one asset.

Methods and systems relating to an augmented virtuality environment

Systems and methods relating to an augmented virtuality system are disclosed. A method of operating an augmented virtuality system may comprise displaying imagery of a real-world environment in an operating picture. The method may further include displaying a plurality of virtual icons in the operating picture representing at least some assets of a plurality of assets positioned in the real-world environment. Additionally, the method may include displaying at least one virtual item in the operating picture representing data sensed by one or more of the assets of the plurality of assets and remotely controlling at least one asset of the plurality of assets by interacting with a virtual icon associated with the at least one asset.

Collaborative spatial positioning

Disparate positional data derived from one or more positional determinative resources are fused with peer-to-peer relational data to provide an object with a collaborative positional awareness. An object collects positional determinative information from one or more positional resources so to independently determine its spatial location. That determination is thereafter augmented by peer-to-peer relational information that can be used to enhance positional determination and modify behavioral outcomes.

Distributed positioning and collaborative behavior determination

A system and its associated methodology for distributed positioning and collaborative behavioral determination among a group of objects, interactive tags associated with each of a plurality of objects provide to each object relative positional data and state information regarding the other nearby objects. Using this information, each object develops a spatial awareness of its environment, including the position and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective.

Conflict resolution based on object behavioral determination and collaborative relative positioning

Using distributed positioning, collaborative behavioral determination, and probabilistic conflict resolution objects can independently identify and resolve potential conflicts before the occur. In one embodiment of the invention, interactive tags and other sensor resources associated with each of a plurality of objects provide among the objects relative positional data and state information. Using this information each object develops a spatial awareness of its environment, including the positional and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective and resolve potential conflicts.

Collaborative spatial positioning

Universal payload abstraction

Robotic payloads are abstracted to provide a plug-and-play system in which mission specific capabilities are easily configured on a wide variety of robotic platforms. A robotic payload architecture is presented in which robotic functionalities are bifurcated into intrinsic capabilities, managed by a core module (210), and mission specific capabilities, addressed by mission payload module(s) (220). By doing so the core modules manages a particular robotic platform's intrinsic functionalities while mission specific tasks are left to mission payloads. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module. In each case the mission payload module communicates with the core module for information about the platform on which it is being associated.

Conflict resolution based on object behavioral determination and collaborative relative positioning

Using distributed positioning, collaborative behavioral determination, and probabilistic conflict resolution objects can independently identify and resolve potential conflicts before the occur. In one embodiment of the invention, interactive tags and other sensor resources associated with each of a plurality of objects provide among the objects relative positional data and state information. Using this information each object develops a spatial awareness of its environment, including the positional and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective and resolve potential conflicts.

Asynchronous data stream framework

An architecture comprising a hardware layer, a data collection layer and an execution layer lays the foundation for a behavioral layer that can asynchronously access abstracted data. A plurality of data sensors asynchronously collect data which is thereafter abstracted so as to be usable by one or more behavioral modules simultaneously. Each of the behaviors can be asynchronously executed as well as dynamically modified based on the collected abstracted data. Moreover, the behavior modules themselves are structured in a hierarchical manner among one or more layers such that outputs of behavior module associated with a lower layer may be the input to a behavior module of a higher letter. Conflicts between outputs of behavior modules are arbitrated and analyzed so as to conform with an overall mission objective.

Asynchronous data stream framework

An architecture comprising a hardware layer, a data collection layer and an execution layer lays the foundation for a behavioral layer that can asynchronously access abstracted data. A plurality of data sensors asynchronously collect data which is thereafter abstracted so as to be usable by one or more behavioral modules simultaneously. Each of the behaviors can be asynchronously executed as well as dynamically modified based on the collected abstracted data. Moreover, the behavior modules themselves are structured in a hierarchical manner among one or more layers such that outputs of behavior module associated with a lower layer may be the input to a behavior module of a higher letter. Conflicts between outputs of behavior modules are arbitrated and analyzed so as to conform with an overall mission objective.

Universal payload abstraction

Robotic payloads are abstracted to provide a plug-and-play system in which mission specific capabilities are easily configured on a wide variety of robotic platforms. A robotic payload architecture is presented in which robotic functionalities are bifurcated into intrinsic capabilities, managed by a core module, and mission specific capabilities, addressed by mission payload module(s). By doing so the core modules manages a particular robotic platform's intrinsic functionalities while mission specific tasks are left to mission payloads. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module. In each case the mission payload module communicates with the core module for information about the platform on which it is being associated.