H04W 4/008, H04W 4/02, H04W 4/027, H04W 4/046, H04W 24/02, H04W 24/10, H04W 72/1278, H04W 84/18, H04L 67/12, H04L 67/18, H04L 67/104, G01S 5/0072, G01S 13/931, G01S 13/9307, G01S 19/49, G08G 1/0112, G08G 1/0133, G08G 1/0141, G08G 1/166
A method and system for distributed spatial control of a formation of vehicles includes receiving at a first formation vehicle via a peer-to-peer communication interface, direction of travel and formation density information that indicate a course of travel for the first vehicle while travelling as a member of the formation of vehicles. The peer-to-peer formation density information indicates a distance to maintain from other neighboring formation vehicles. A formation vehicle self-navigation command is generated for navigating the first vehicle when travelling in one dimensional, two dimensional, or three dimensional space as a member of the formation of vehicles. The self-navigation command is based on the peer-to-peer direction of travel and formation density information. The direction of travel information is based on locally determined spatial relationships of a portion of the formation of vehicles.
Yucelen, Tansel and Tran, Dzung Minh Duc, "Tools and methods for distributed spatial control of swarms via multiplex information networks" (2020). USF Patents. 1161.
University of South Florida