Abstract: A constellation of Ultra-Wide Band (UWB) nodes, each with an UWB transceiver operating both as a monostatic/bi-static Radar, provide precise positional determination of both participating and nonparticipating movable objects. The UWB constellation identifies and locates objects within a geographic area using multipath signal analysis forming an occupancy grid. The resulting occupancy grid can identify parked cars, pedestrians, obstructions, and the like to facilitate autonomous vehicle operations, safety protocols, traffic management, emergency vehicle prioritization, collisions avoidance and the like.

Abstract: Gaining a time signal from a radio signal such as GPS, an ultra-wide band constellation can be synchronized. While the entirety of the constellation is synchronized to a nanosecond level of accuracy, local subsets of ultra-wide band nodes can establish even finer degrees of synchronization resulting in more accurate positional determination. These synchronization signals can be propagated to other nodes that are denied or incapable of receiving synchronizing radio (GPS) signals. Moreover, in cases in which a plurality of UPN nodes is unavailable to accurately determine an objects position, available UPN nodes can be combined with GPS pseudo ranges to achieve positional determination.

Abstract: Coherent radar returns gained from Ultra-Wideband Radars are correlated with features extracted from a georeferenced map to refine positional information and pose of an object. Data collected from one or more UWB Radars and other real time sensors affixed on an object can be processed to identify discrete edges or characteristic returns such as a pole, building or the like. These coherent returns can be correlated with features extracted from a georeferenced map. As the UWB Radar(s) location and orientation with respect to the object is (are) known the precise location and pose of the object on the georeferenced map can be determined by matching features found in the map or imagery with those of the coherent return. Moreover the configuration of the UWB Radars can be modified based on a perception of the local environment.

Abstract: 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.

Abstract: Recursive constellations of Ultra-Wide Band (“UWB”) transceivers are optimized based on a desired functionality or objective. By structuring transceivers of an UWB network into a plurality of subsets or constellations of UWB nodes each constellation can be optimized for a particular purpose while maintaining connectivity and cohesiveness within the overarching network. Implementations of specific functionality can be applied to Intra-Vehicle, Inter-Vehicle and Vehicle-to-Infrastructure constellations resulting in localized optimizations while maintaining a cohesive and coherent UWB network.

Abstract: A system and method to identify optimal vehicular movement based on reactive and deliberative components is described. Modifiable use conditions, such as speeding, excessive idling, gear selection, acceleration and deceleration profiles, as well as optimal path determination and follow distance are identified and optimized based on a reactive interaction between the vehicles and infrastructure on a real-time basis. Using active positioning tags placed within the environment and/or attached to each vehicle a vehicle's position can be determined relative to other proximal vehicles or relative to its environment. With such information a vehicle's path can be optimized.

Abstract: A unified collaboration environment is formed by establishing a local workspace positional frame of reference using a plurality of UWB transceivers. With a frame of reference established a communication link is established between each of the workspaces, and a collaboration module to establish a peer-to-peer network. Data is received from each of the workspaces including the local workspace frame of reference, the set of available assets and workspace behavior (tasks). The collaboration module crafts a unified collaboration environment by transforming the local workspace into a collaborative positional frame of reference. A user, through a user interface, can offer real-time input to a virtualized version of the workspace to augment actions within the workspace environment.

Abstract: 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.

Abstract: Changes and anomalies in multi-modal data are detected, collected and abstracted into understandable and actionable formats utilizing, for example, color, intensity, icons and texture creating a rendition of current and developing situations and events. Changes and anomalies in multi-modal sensor data are detected, aggregated, abstracted and filtered using case-based reasoning providing a tractable data dimensionality. From this collection of data situations are recognized and presented in a means so as to assist a user in accessing an environment and formulate the basis a recommended course of action.

Abstract: An Adaptive Positioning System provides a method for directing and tracking position, motion and orientation of mobile vehicles, people and other entities using multiple complementary positioning components to provide seamless positioning and behavior across a spectrum of indoor and outdoor environments. The Adaptive Positioning System (APS) provides for complementary use of peer to peer ranging together with map matching to alleviate the need for active tags throughout an environment. Moreover, the APS evaluates the validity and improves the effective accuracy of each sensor by comparing each sensor to a collaborative model of the positional environment. The APS is applicable for use with multiple sensors on a single entity (i.e. a single robot) or across multiple entities (i.e. multiple robots) and even types of entities (i.e. robots, humans, cell phones, cars, trucks, drones, etc.).

Abstract: 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.

Abstract: A mobile positional constellation system determines a mobile device's relative position using a plurality of UWB transceivers affixed to a platform. The platform, which itself can be mobile, includes a plurality of UWB transceivers and a trilateration module. The mobile device, which can also have one or more UWB transceivers, exchanges one or more signals with the platform to determine a relative position with respect to the platform through trilateration. With an established relative position established behavior of the mobile device can be augmented. The synchronous capability of UWB signals provides a user with direct control of a mobile device in austere conditions including those in which GPS is denied.

Abstract: Mobile localization of an object having an object positional frame of reference using sparse time-of-flight data and dead reckoning can be accomplished by creating a dead reckoning local frame of reference, including an estimation of object position with respect to known locations from one or more Ultra Wide Band transceivers. As the object moves along its path, a determination is made using the dead-reckoning local frame of reference. When the object is within a predetermine range of one or more of the Ultra Wide Band transceivers, a “conversation” is initiated, and range data between the object and the UWB transceiver(s) is collected. Using multiple conversations to establish accurate range and bearing information, the system updates the object's position based on the collected data.

Abstract: 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.

Abstract: 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.

Abstract: A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.

Abstract: 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.

Abstract: A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.

Abstract: A system and method to identify optimal vehicular movement based on reactive and deliberative components is described. Modifiable use conditions, such as speeding, excessive idling, gear selection, acceleration and deceleration profiles, as well as optimal path determination and follow distance are identified and optimized based on a reactive interaction between the vehicles and infrastructure on a real-time basis. Using active positioning tags placed within the environment and/or attached to each vehicle a vehicle's position can be determined relative to other proximal vehicles or relative to its environment. With such information a vehicle's path can be optimized.

Abstract: Changes and anomalies in multi-modal data are detected, collected and abstracted into understandable and actionable formats utilizing, for example, color, intensity, icons and texture creating a rendition of current and developing situations and events. Changes and anomalies in multi-modal sensor data are detected, aggregated, abstracted and filtered using case-based reasoning providing a tractable data dimensionality. From this collection of data situations are recognized and presented in a means so as to assist a user in accessing an environment and formulate the basis a recommended course of action.