Abstract: A system and method for integrity monitoring acquire one or more boundaries, each boundary of the one or more boundaries based on at least one fallback action of one or more fallback actions. The system and method receive situational data comprising at least one of environmental data or autonomous vehicle data. The system and method generate, using a monitor module configured to monitor an autonomous vehicle, one or more boundary violation determinations. The system and method generate a fallback status based on at least the one or more boundary violation determinations. The fallback status being configured to correspond to a determination of whether to override a primary control output.

Abstract: A system and method for dynamic probabilistic tracking of search targets within a search area generates a displayable occupancy map of the search area. The occupancy map is divided into individual map cells and seeded with a list of unlocated targets (e.g., targets of one or more types known or thought to be within the search area but which have not been precisely located therewithin). Each map cell of the occupancy map reflects the confidence or likelihood that an unlocated target will be detected within that cell. As a search mission proceeds, sensor datasets are received from the searching assets and correlated to identify unlocated targets. As unlocated targets are detected, located with sufficient accuracy, and removed from the list, the confidence levels of other map cells are reflected to indicate changes in the probability that any remaining unlocated targets will be detected therein.

Abstract: A system and method for integrity monitoring generates primary control output via a primary module. The primary control output is configured to be used to control an autonomous vehicle (AV). The system and method receive situational data comprising AV data and environmental data. The system and method generate, using a monitor module configured to monitor the AV, a set of fallback actions based on at least the situational data. The system and method generate, using the monitor module, a fallback status based on at least the set of fallback actions, where the fallback status is configured to correspond to a determination of whether to override the primary control output.

Abstract: A system and method for multi-asset collaborative operations by a team of autonomous vehicles (AV) implements a multi-level hierarchical mission planning and autonomy stack aboard each member AV of the team. Mission-level and team-level layers of the stack, either independently or in collaboration with other members of the AV team. receive high-level mission goals, spawn mission objectives for the fulfillment of received goals, and assign the mission objectives to specific member AVs or sub-teams thereof. Asset-level action planning modules translate the assigned mission objectives into default trajectories including component action and payload sequences for execution by the AV. An asset-level guidance playbook executes the default trajectories via high-rate control commands directly to vehicle and payload control systems.

Abstract: A mission system for autonomous vehicle (AV) team coordination and a method of using the same are disclosed. A controller included on an AV shares mission data between two or more AVs, and in response to communication denial, generates estimated navigation trajectories for teammate AVs. A simulation outputs estimated navigation states for the teammate AVs. The estimated navigation states are identical or substantially identical to navigation states otherwise generated by controllers included on the teammate AVs. The estimated navigation trajectories are generated based on the estimated navigation states.

Abstract: A system and method for formation flying includes a primary asset accompanied by a plurality of secondary assets. The secondary assets fly around the primary asset in a predetermined formation to achieve a desired degree to range and scanning. The secondary assets are not mission critical such that if some or all are lost to attrition, the primary asset may continue the mission or abort with a high probability of survival. The primary asset may include a high value payload, either in terms of equipment expense or mission criticality. Furthermore, the secondary assets may autonomously reposition and reorient according to mission priorities or the loss of one or more of the secondary assets. The primary asset and secondary assets implement algorithms and software functions to allow the primary asset to navigate through airspace without being harmed by any known or yet to be known lethal threats.

Abstract: A system and method for autonomous vehicle (AV) team coordination are disclosed. An ownship AV generates ownship measurement data and a teammate AV generates teammate measurement data. A time slice of the ownship measurement data is matched to a time slice of the teammate measurement data based on a time slice index. An area of the environment is identified as a detected area or a non-detected area based on the measurement data associated with the matched time slices. An occupancy map is populated based on the identification of the area as the detected area or the non-detected area.

Abstract: A system and method for dynamic mesh network discovery is disclosed. In embodiments, the system assigns each network asset (e.g., unmanned or manned aircraft or like mobile nodes) a unique asset number. Each asset has a controller coupled to a datalink including antenna elements and a memory for storing an asset table. Each asset periodically broadcasts an asset status message including the asset number. When a status message is received, the receiving asset compares the received asset number to its own asset number. If the received asset number is higher (e.g., of lower priority) than its own asset number, the receiving asset establishes a bidirectional mesh network connection to the broadcasting asset. Assets on the receiving end of a network connection interrogate the establishing asset for its asset number, such that assets on both sides of the connection know the identity of the other and update their asset tables accordingly.

Abstract: A navigation system includes a navigation database and a route generator. The route generator receives an avoidance, generates a concave polygon representing the avoidance with respect to four-dimensional data of the navigation database, identifies a displacement vector of the avoidance, shifts the concave polygon using the displacement vector, identifies each gap between vertices of the shifted concave polygon, adds an added edge to the to connect vertices across each identified gap, determines, for each edge of the concave polygon, if the edge includes an internal edge, removes each internal edge from the concave polygon, compares the concave polygon to the plurality of cells, identifies one or more cells in which the concave polygon is located, and outputs a navigation alert based on the identified one or more cells.

Abstract: A system and method for dynamic mesh network discovery is disclosed. In embodiments, the system assigns each network asset (e.g., unmanned or manned aircraft or like mobile nodes) a unique asset number. Each asset has a controller coupled to a datalink including antenna elements and a memory for storing an asset table. Each asset periodically broadcasts an asset status message including the asset number. When a status message is received, the receiving asset compares the received asset number to its own asset number. If the received asset number is higher (e.g., of lower priority) than its own asset number, the receiving asset establishes a bidirectional mesh network connection to the broadcasting asset. Assets on the receiving end of a network connection interrogate the establishing asset for its asset number, such that assets on both sides of the connection know the identity of the other and update their asset tables accordingly.

Abstract: A navigation system is configured to identify a current location and a destination location of an airborne platform, identify a current cell in which the current location is located; identify a plurality of current neighbors associated with the current cell; calculate, for a first path from the current location to the destination location through a first current neighbor of the plurality of current neighbors, a first value of an objective function, the first value depending on whether the first path includes a predetermined navigational node; calculate, for a second path from the current location to the destination location through a second current neighbor of the plurality of current neighbors, a second value of the objective function depending on whether the second path includes a predetermined navigational node; and output the current neighbor and/or path that satisfies an objective condition based on the values.

Abstract: A three-dimensional path finding system bifurcates path finding operations between horizontal paths and vertical paths. Horizontal paths are identified according to the Theta* algorithm that produces direct, efficient paths that are viable in a horizontal plane. Vertical paths are identified according to the A* algorithm that produces paths that are viable for an aircraft changing altitude. The horizontal and vertical components are combined to produce a viable, efficient path in three dimensions.

Abstract: A system for an airborne platform includes a display device and a processing circuit. The processing circuit is configured to receive avoidance configuration information having a plurality of avoidance categories and severity levels. The processing circuit is further configured to receive flight plan information relating to a flight route from a starting location to an ending location, an avoidance area, an indication of an avoidance category corresponding to the avoidance area, and an indication of a severity level. The processing circuit is further configured to calculate a normalized cost associated with the flight route and compare the normalized cost to a threshold value. The processing circuit is further configured to identify the avoidance area as non-traversable when the normalized cost exceeds the threshold value. The processing circuit is further configured to generate a display providing a visual representation of the normalized cost, the flight route, and the avoidance area.