Abstract: A system and method of positioning a set of vehicles (102) with respect to an object (104) and a set of targets (106). Embodiments can generate (302) an isovist using data obtained from at least one sensor associated with the object and use it to compute (304) an estimated position of each target with respect to the object. Embodiments can compute (306) a plurality of positions for each vehicle based on the estimated positions of the targets, with each position having an associated value representing a number of the targets at their estimated positions that are within a predetermined proximity of the vehicle at that position. Embodiments can select (308) a subset of the positions based on the associated values, and position (310) the set of vehicles based on the selected subset of the positions.

Abstract: A method and system for positioning a vehicle in relation to each moving target of an ordered set of moving targets. Each of the moving targets moves from an initial position at a constant velocity. Embodiments can compute an estimated time for the vehicle to be positioned within a predetermined proximity of one of the moving targets; compute an estimated location of the moving target at the estimated time, based on a current position of the moving target and the constant velocity of the moving target, and compute a required velocity for the vehicle to move from its current position to reach the estimated location by the estimated time. If the required velocity is less than or equal to a maximum velocity of the vehicle, outputting the estimated time and the estimated location for use in positioning the vehicle.

Abstract: A method and system for positioning a vehicle in relation to each moving target of an ordered set of moving targets. Each of the moving targets moves from an initial position at a constant velocity. Embodiments can compute (602) an estimated time for the vehicle to be positioned within a predetermined proximity of one of the moving targets; compute (604) an estimated location of the moving target at the estimated time, based on a current position of the moving target and the constant velocity of the moving target, and compute (606) a required velocity for the vehicle to move from its current position to reach the estimated location by the estimated time. If the required velocity is less than or equal to a maximum velocity of the vehicle, outputting (312) the estimated time and the estimated location for use in positioning the vehicle.

Abstract: A system and method of positioning a set of vehicles (102) with respect to an object (104) and a set of targets (106). Embodiments can generate (302) an isovist using data obtained from at least one sensor associated with the object and use it to compute (304) an estimated position of each target with respect to the object. Embodiments can compute (306) a plurality of positions for each vehicle based on the estimated positions of the targets, with each position having an associated value representing a number of the targets at their estimated positions that are within a predetermined proximity of the vehicle at that position. Embodiments can select (308) a subset of the positions based on the associated values, and position (310) the set of vehicles based on the selected subset of the positions.

Abstract: A method and apparatus for determining actions for entities (4, 6) such that a goal is accomplished constraints are satisfied. The method comprises: determining an initial plan comprising actions that, if performed by the entities (4, 6), the goal would be accomplished; determining that a constraint would not be satisfied if the initial plan was implemented; and iteratively performing steps (i) to (v) until a final plan that accomplishes the goal and satisfies the is determined. Step (i) comprises identifying a constraint that is not satisfied in part of the current plan. Step (ii) comprises determining a remedy that, if implemented, satisfies the identified constraint. Step (iii) comprises updating the goal specification to include the remedy. Step (iv) comprises, using the updated goal specification, determining a further plan that accomplishes the goal and the remedy. Step (v) comprises determining whether or not the further plan satisfies each constraint.

Abstract: A method and apparatus for determining actions for entities (4, 6) such that a goal is accomplished constraints are satisfied. The method comprises: determining an initial plan comprising actions that, if performed by the entities (4, 6), the goal would be accomplished; determining that a constraint would not be satisfied if the initial plan was implemented; and iteratively performing steps (i) to (v) until a final plan that accomplishes the goal and satisfies the is determined. Step (i) comprises identifying a constraint that is not satisfied in part of the current plan. Step (ii) comprises determining a remedy that, if implemented, satisfies the identified constraint. Step (iii) comprises updating the goal specification to include the remedy. Step (iv) comprises, using the updated goal specification, determining a further plan that accomplishes the goal and the remedy. Step (v) comprises determining whether or not the further plan satisfies each constraint.

Abstract: Methods and apparatus for determining actions to be performed by a plurality of assets such that a predetermined task is performed. Methods comprise receiving, by a task decomposition module (105), task information that specifies the predetermined task; using the task information, determining, by the task decomposition module (105), a plurality of sub-tasks, the sub-tasks being such that if each of those sub-tasks were performed, the predetermined task would be performed; using information relating to the plurality of assets and the determined sub-tasks, assigning, by an assignment module (115), each sub-task to an asset; for each asset to which a sub-task has been assigned, and for each sub-task assigned to that asset, determining, by a planner module (120), one or more actions, an action determined for an asset and sub-task being such that, if that action is performed by that asset, that sub-task is performed.