Abstract: A method of planning a path of a vehicle by defining a first plurality of constraints representing dynamics of the vehicle; defining a second plurality of constraints representing collisions with obstacles; defining a third plurality of constraints representing visibility to threats; and using the first, second and third plurality of constraints with mixed integer linear programming to generate a trajectory for a vehicle from a starting point to a destination point in an environment containing the obstacles and the threats.

Abstract: A system is provided wherein a primary radio signal and a redundant radio signal are transmitted from a transmitter subsystem and received by a receiver subsystem. The output of an audio source is coupled to a modulator for modulating a radio frequency signal for coupling to a transmit antenna. A second output of audio source is coupled to a delay circuit, for adding a predetermined time delay thereto. The delayed audio source signal is coupled to a modulator for modulating a second radio frequency signal that is also coupled to the transmit antenna. The receiver subsystem receives both the primary radio signal and the delayed redundant radio signal and couples each to a respective demodulator. At least one demodulator includes a circuit for determining the degradation in the primary radio signal and provides a quality measurement output signal to a blend control circuit.