Abstract: Computer-implemented methods, systems, and computer-readable storage media are disclosed to coordinate a plurality of devices in performing a task. A particular computer-implemented method includes storing updated status information at a device where the updated status information reflects a change in a vote for a task state of one or more of a plurality of devices. A first updated status message is sent to one or more of the plurality of devices where the first updated status message communicates the updated status information. A task consensus at the device is updated when the updated status information indicates that at least a predetermined quantity of the plurality of devices agrees on the task status.

Abstract: Systems and methods for development testing of vehicles and components are disclosed. In one embodiment, a system includes a position reference system and a command and control architecture. The position reference system is configured to repetitively measure one or more position and motion characteristics of one or more vehicles operating within a control volume. The command and control architecture is configured to receive the repetitively measured characteristics from the position reference system, and to determine corresponding control signals based thereon. The control signals are then transmitted to the one or more vehicles to control at least one of position, movement, and stabilization of the one or more vehicles in a closed-loop feedback manner. The system may further include a health monitoring component configured to monitor health conditions of the one or more vehicles, the control signals being determined at least in part on the health conditions.

Abstract: Method and systems for using agents to perform an operation (e.g., a search) over a geographic area are provided. The system can first create a digital map of the geographic region divided into cells that contain information about the progress of an operation related to the geographic region. Next, the system can calculate a distance gradient of the digital map. The distance gradient indicates the distance from cells of the digital map to the nearest unoperated cell. The system can determine the next move for each agent based on the distance gradient. Also described are methods and systems for efficiently exchanging digital map information among agents and for distributing agents to increase network coverage and decrease agent crowding.

Abstract: Improved methods for designing the route of a transport element, such as a tube, are provided. A method preferably designs the route automatically and, by utilizing constraint objects, including at least one adaptively-sampled distance field (adaptive distance field or ADF) constraint object, in the design of the route, as opposed to during a post design check, ensures that the resulting route complies with the various constraint objects, including the at least one ADF constraint object. In addition, a method may establish an overall cost function to evaluate a plurality of feasible routes of the transport element that each comply with the constraint objects, including at least one ADF constraint object, such that a preferred or optimal route may be designed.

Abstract: Systems and methods for closed-loop feedback control of controllable devices using motion capture systems are disclosed. In one embodiment, a system includes a motion capture system configured to measure one or more motion characteristics of one or more controllable devices as the one or more controllable devices are operating within a control volume. A processor receives the measured motion characteristics from the motion capture system and determines a control signal based on the measured motion characteristics. A position control system receives the control signal and continuously adjusts at least one motion characteristic of the one or more controllable devices in order to maintain or achieve a desired motion state. The controllable device may be equipped with passive retro-reflective markers. The motion capture system, the processor, and the position control system comprise a complete closed-loop feedback control system.

Abstract: A distributed tempero-spatial query service uses a plurality of service agents each having an assigned area of responsibility. The service agents are organized into a spatial hierarchy based upon each service agent's area of responsibility. The spatial hierarchy is distributed and hosted on each of the service agents. The spatial hierarchy enables matching of requests from subscribing agents with publishing agents based upon spatial attributes. The spatial hierarchy is dynamically maintained in a distributed manner on each of the service agents. The service agents can be arranged into a tree-based spatial hierarchy having a limited depth.

Abstract: Method and systems for using agents to perform an operation (e.g., a search) over a geographic area are provided. The system can first create a digital map of the geographic region divided into cells that contain information about the progress of an operation related to the geographic region. Next, the system can calculate a distance gradient of the digital map. The distance gradient indicates the distance from cells of the digital map to the nearest unoperated cell. The system can determine the next move for each agent based on the distance gradient. Also described are methods and systems for efficiently exchanging digital map information among agents and for distributing agents to increase network coverage and decrease agent crowding.

Abstract: A method is disclosed for controlling at least one remotely operated unmanned object. The method may involve defining a plurality of body movements of an operator that correspond to a plurality of operating commands for the unmanned object. Body movements of the operator may be sensed to generate the operating commands. Wireless signals may be transmitted to the unmanned object that correspond to the operating commands that control operation of the unmanned object.

Abstract: A k-covered motion capture volume is modeled. The modeling includes representing the k-covered motion capture volume with a distance field.

Abstract: Systems and methods for closed-loop feedback control of controllable devices using motion capture systems are disclosed. In one embodiment, a system includes a motion capture system configured to measure one or more motion characteristics of one or more controllable devices as the one or more controllable devices are operating within a control volume. A processor receives the measured motion characteristics from the motion capture system and determines a control signal based on the measured motion characteristics. A position control system receives the control signal and continuously adjusts at least one motion characteristic of the one or more controllable devices in order to maintain or achieve a desired motion state. The controllable device may be equipped with passive retro-reflective markers. The motion capture system, the processor, and the position control system comprise a complete closed-loop feedback control system.

Abstract: Systems and methods are disclosed for haptics-enabled teleoperation of vehicles and other devices, including remotely-controlled air, water, and land-based vehicles, manufacturing robots, and other suitable teleoperable devices. In one embodiment, a system for teleoperation of a vehicle comprises a control component configured to provide position and orientation control with haptic force feedback of the vehicle based on a position measurement of the vehicle and configured to function in a closed-loop feedback manner. In a particular embodiment, the position measurement may include six degree-of-freedom position data provided by a motion capture system to the control and/or haptic I/O components of the application. The system may also use differences in position and/or velocity between the vehicle and a haptic I/O device for feedback control.

Abstract: Systems and methods for development testing of vehicles and components are disclosed. In one embodiment, a system includes a position reference system and a command and control architecture. The position reference system is configured to repetitively measure one or more position and motion characteristics of one or more vehicles operating within a control volume. The command and control architecture is configured to receive the repetitively measured characteristics from the position reference system, and to determine corresponding control signals based thereon. The control signals are then transmitted to the one or more vehicles to control at least one of position, movement, and stabilization of the one or more vehicles in a closed-loop feedback manner. The system may further include a health monitoring component configured to monitor health conditions of the one or more vehicles, the control signals being determined at least in part on the health conditions.

Abstract: Method and systems for using agents to perform an operation (e.g., a search) over a geographic area are provided. The system can first create a digital map of the geographic region divided into cells that contain information about the progress of an operation related to the geographic region. Next, the system can calculate a distance gradient of the digital map. The distance gradient indicates the distance from cells of the digital map to the nearest unoperated cell. The system can determine the next move for each agent based on the distance gradient. Also described are methods and systems for efficiently exchanging digital map information among agents and for distributing agents to increase network coverage and decrease agent crowding.

Abstract: Improved methods for designing the route of a transport element, such as a tube, are provided. A method preferably designs the route automatically and, by utilizing constraint objects, including at least one adaptively-sampled distance field (adaptive distance field or ADF) constraint object, in the design of the route, as opposed to during a post design check, ensures that the resulting route complies with the various constraint objects, including the at least one ADF constraint object. In addition, a method may establish an overall cost function to evaluate a plurality of feasible routes of the transport element that each comply with the constraint objects, including at least one ADF constraint object, such that a preferred or optimal route may be designed.

Abstract: A distributed tempero-spatial query service uses a plurality of service agents each having an assigned area of responsibility. The service agents are organized into a spatial hierarchy based upon each service agent's area of responsibility. The spatial hierarchy is distributed and hosted on each of the service agents. The spatial hierarchy enables matching of requests from subscribing agents with publishing agents based upon spatial attributes. The spatial hierarchy is dynamically maintained in a distributed manner on each of the service agents. The service agents can be arranged into a tree-based spatial hierarchy having a limited depth.