Abstract: The present invention provides a system and method for relative localization that provides an orientation signal and a position signal between at least two vehicles. The present invention also provides for vehicle formation, such that there is a leading vehicle and a follower vehicle that maintain a specific formation relative to one another. The orientation, relative position and identity signals are utilized to control that formation. Each vehicle has at least three ultrasonic sensors, at least one ultrasonic source and an optional pair of FM receiver/transmitter. By installing several acoustic sensors whose relative position are known and by measuring the difference in the time of arrival of the same signal from the various sensors on the same vehicle, the difference in time can be converted into a difference of distance and then into relative position of the sensors from the source based on the Time Difference of Arrival (TDOA).

Abstract: The present invention provides a system and method for relative localization that provides an orientation signal and a position signal between at least two vehicles. The present invention also provides for vehicle formation, such that there is a leading vehicle and a follower vehicle that maintain a specific formation relative to one another. The orientation, relative position and identity signals are utilized to control that formation. Each vehicle has at least three ultrasonic sensors, at least one ultrasonic source and an optional pair of FM receiver/transmitter. By installing several acoustic sensors whose relative position are known and by measuring the difference in the time of arrival of the same signal from the various sensors on the same vehicle, the difference in time can be converted into a difference of distance and then into relative position of the sensors from the source based on the Time Difference of Arrival (TDOA).

Abstract: Systems for controlling flow effector control surfaces. The system comprises a flow effector control coupled to an elongated bar at one end of the bar. The elongated bar is coupled at the other end to the middle of a T-shaped member. A compliant link is coupled to the bar between the control surface and the T-shaped member. At each end of the T-shaped member is coupled a shape memory alloy wire which acts as an actuating means. When one of the shape memory alloy wire contracts, the elongated bar pivots about the compliant link and activates or retracts the flow effector control surface.

Abstract: Systems for controlling flow effector control surfaces. The system comprises a flow effector control coupled to an elongated bar at one end of the bar. The elongated bar is coupled at the other end to the middle of a T-shaped member. A compliant link is coupled to the bar between the control surface and the T-shaped member. At each end of the T-shaped member is coupled a shape memory alloy wire which acts as an actuating means. When one of the shape memory alloy wire contracts, the elongated bar pivots about the compliant link and activates or retracts the flow effector control surface.