Abstract: Method and apparatuses for communicating instruction data items from a control apparatus to a device to be controlled are disclosed. The control apparatus receives a request for at least one instruction data item from a device and responds the request by sending a response message. The responding comprises selectively including at least one instruction data item in the response message based at least partly on determination whether the requested at least one data item has been sent before.

Abstract: Apparatuses and methods for movement control of a device are disclosed. The apparatus comprises memory for storing information of patterns covering sectors of the area indicating whether the patterns have at least one item relevant to movement in the area. The information has been configured based on determination of at least one pattern that has at least one item relevant to movement in the area, division of the determined at least one pattern into smaller patterns, determination of at least one of the smaller patterns with at least one item relevant to movement in the area, and repeat of the division until predefined smallest pattern size is reached.

Abstract: Method, apparatuses, and computer program products provide for configuration of failsafe behavior for autonomous navigation. In particular, an active failsafe home is repeatedly established from a plurality of failsafe homes, and an autonomous vehicle is configured to travel to the active failsafe home when a communication fault occurs. An example method includes determining a location of the autonomous vehicle and determining whether a particular failsafe home of a plurality of failsafe homes associated with the autonomous vehicle satisfies a pre-determined visibility condition with respect to the location of the autonomous vehicle and one or more constraint areas. The method further includes, in accordance with a determination that the particular failsafe home satisfies the pre-determined visibility condition, establishing the particular failsafe home as an active failsafe home for the autonomous vehicle.

Abstract: Method and apparatuses for communicating instruction data items from a control apparatus to a device to be controlled are disclosed. The control apparatus receives a request for at least one instruction data item from a device and responds the request by sending a response message. The responding comprises selectively including at least one instruction data item in the response message based at least partly on determination whether the requested at least one data item has been sent before.

Abstract: Method and apparatuses for communicating instruction data items from a control apparatus to a device to be controlled are disclosed. The control apparatus receives a request for at least one instruction data item from a device and responds the request by sending a response message. The responding comprises selectively including at least one instruction data item in the response message based at least partly on determination whether the requested at least one data item has been sent before.

Abstract: Apparatuses and methods for movement control of a device are disclosed. The apparatus comprises memory for storing information of patterns covering sectors of the area indicating whether the patterns have at least one item relevant to movement in the area. The information has been configured based on determination of at least one pattern that has at least one item relevant to movement in the area, division of the determined at least one pattern into smaller patterns, determination of at least one of the smaller patterns with at least one item relevant to movement in the area, and repeat of the division until predefined smallest pattern size is reached.

Abstract: Apparatuses and methods are disclosed for path planning. An apparatus comprising a data processor can be configured to determine an initial path past an obstacle between a first point and a second point. The initial path comprises at least two turn points between the first point and the second point. It can then be determined whether a line between two of the points and bypassing at least one of the turn points intersects the obstacle. A straightened path of travel can be determined in response to determination that the line between two of the points and bypassing the at least one of the turn points does not intersect the obstacle by removing the at least one bypassed turn point from the initial path.

Abstract: Methods and apparatuses for determining a location of a cursor on a navigational map are provided. At least one boundary rectangle is calculated for a path on the navigational map, the path comprising at least two waypoints, each waypoint being connected to a next successive waypoint by a respective line segment such that each line segment has two endpoints. A respective segment boundary rectangle is calculated for each line segment along with its two endpoints. A determination in made whether the cursor is located within the at least one boundary rectangle. When the cursor is located within the at least one boundary rectangle, it is determined whether the cursor is located within one of the segment boundary rectangles.

Abstract: There is provided a method comprising: receiving, by an apparatus, a first mission control message for sending to a first unmanned vehicle; selecting, by the apparatus, a first control protocol from at least two control protocols for sending the first mission control message to the first unmanned vehicle in dependence on a determined capability of the first unmanned vehicle; and sending, by the apparatus, the first mission control message to the first unmanned vehicle using the selected control protocol.

Abstract: The present disclosure generally discloses a vehicle marking capability configured to support marking of vehicles in a vehicle management system. The vehicle marking capability is configured to support marking of vehicles in a graphical user interface (GUI) that is supported by a vehicle management application that is supported by the vehicle management system. The vehicle marking capability may be configured to support marking of various vehicle measures of vehicles for various vehicle types which may be managed by the vehicle management system. The vehicle marking capability may be configured to support marking of vehicle measures for vehicles using measure objects having lengths that are based on the vehicle measures (e.g., using linear scaling, logarithmic scaling, or the like). The vehicle marking capability may be configured to support marking of vehicle altitudes for aerial vehicles using altitude columns having column heights that are based on the vehicle altitudes.

Abstract: Method and apparatuses for communicating instruction data items from a control apparatus to a device to be controlled are disclosed. The control apparatus receives a request for at least one instruction data item from a device and responds the request by sending a response message. The responding comprises selectively including at least one instruction data item in the response message based at least partly on determination whether the requested at least one data item has been sent before.

Abstract: The present disclosure generally discloses a vehicle marking capability configured to support marking of vehicles in a vehicle management system. The vehicle marking capability is configured to support marking of vehicles in a graphical user interface (GUI) that is supported by a vehicle management application that is supported by the vehicle management system. The vehicle marking capability may be configured to support marking of various vehicle measures of vehicles for various vehicle types which may be managed by the vehicle management system. The vehicle marking capability may be configured to support marking of vehicle measures for vehicles using measure objects having lengths that are based on the vehicle measures (e.g., using linear scaling, logarithmic scaling, or the like). The vehicle marking capability may be configured to support marking of vehicle altitudes for aerial vehicles using altitude columns having column heights that are based on the vehicle altitudes.

Abstract: A first route from a first position to a target waypoint can be determined for a first vehicle. A first planned route from a second position to a planned waypoint for a second vehicle following the first vehicle can then be determined using a first mask positioned in a predefined manner relative to the first route. If it is determined that a direction of a second route for the first vehicle from the target waypoint to a next target waypoint is not substantially parallel with a direction of the first route, a second planned route for the second vehicle can be determined using a second mask positioned in a predefined manner relative to the second route. Movement of the second vehicle is controlled in response to determining a relation between the first planned route and the second planned route.