Abstract: An optimal-route generating system for generating an optimal route for achieving a predetermined state relative to a target includes a route candidate generator and an optimal route generator. The route candidate generator is configured to generate a plurality of route candidates for allowing a first craft to reach a predetermined state relative to the target after a predetermined elapsed time period from a current state of the first craft by changing the acceleration of the first craft among a current position, speed, and acceleration of the first craft. The optimal route generator is configured to generate the optimal route by selecting a route candidate with an optimal evaluation result based on an evaluation function from among route candidates, included in the plurality of generated route candidates, not deviating from a predetermined limitation and unlikely to collide with another object including either one of a ground and the target.

Abstract: A behavior prediction system includes an information obtainer, a probability distribution model generator, a map generator, and a display. The information obtainer obtains information on a traveling direction of a moving object whose behavior is to be predicted. The probability distribution model generator generates a probability distribution model regarding a traveling direction of the moving object based on the information on an obtained traveling direction of the moving object. The map generator uses the probability distribution model to calculate probabilities that the moving object passes through respective areas into which a movable region of the moving object is divided and that generates a probability map in which the probabilities are assigned to the respective areas. The display displays the probability map.

Abstract: There is provided a flight control system including a virtual path setting unit, a first evaluation unit, a path determination unit, and a flight controller. The virtual path setting unit is configured to set a plurality of virtual paths other than a current path of an aircraft at a prescribed timing. The first evaluation unit is configured to evaluate envelope protection of each of the current path and the plurality of virtual paths. The path determination unit is configured to determine a path among the current path and the plurality of virtual paths, based on an evaluation result of the envelope protection. The flight controller is configured to control flight of the aircraft based on the determined path.

Abstract: A patrol route setting apparatus includes a cell divider, a probability distribution setter, a random number generator, a destination setter, a route setter, and a probability distribution updating unit. The cell divider divides map information into cells. The probability distribution setter sets, for each cell, a probability distribution of a presence probability of a capturing target in the cell. The destination setter that sets, as a destination, any, of the cells, that has a greatest first value, of the presence probability, corresponding to a random number generated by the random number generator, on the basis of the probability distributions. The probability distribution updating unit updates, on the basis of presence information of the capturing target acquired by an information acquiring unit, the probability distributions of the presence probability of the capturing target, when the movable body travels along the traveling route to the destination set by the route setter.

Abstract: An optimal-route generating system for generating an optimal route for achieving a predetermined state relative to a target includes a route candidate generator and an optimal route generator. The route candidate generator is configured to generate a plurality of route candidates for allowing a first craft to reach a predetermined state relative to the target after a predetermined elapsed time period from a current state of the first craft by changing the acceleration of the first craft among a current position, speed, and acceleration of the first craft. The optimal route generator is configured to generate the optimal route by selecting a route candidate with an optimal evaluation result based on an evaluation function from among route candidates, included in the plurality of generated route candidates, not deviating from a predetermined limitation and unlikely to collide with another object including either one of a ground and the target.

Abstract: A behavior prediction system includes an information obtainer, a probability distribution model generator, a map generator, and a display. The information obtainer obtains information on a traveling direction of a moving object whose behavior is to be predicted. The probability distribution model generator generates a probability distribution model regarding a traveling direction of the moving object based on the information on an obtained traveling direction of the moving object. The map generator uses the probability distribution model to calculate probabilities that the moving object passes through respective areas into which a movable region of the moving object is divided and that generates a probability map in which the probabilities are assigned to the respective areas. The display displays the probability map.

Abstract: A travel path setting apparatus includes an information acquiring unit, a memory, a predictable scenario creating unit, and a path searching unit. The information acquiring unit acquires surrounding information on a surrounding situation of a movable body. The memory stores a probability model related to the surrounding situation of the movable body. The predictable scenario creating unit creates, on a basis of the surrounding information and the probability model, a plurality of predictable scenarios for each of a plurality of predetermined times in future. The predictable scenarios are each the surrounding situation of the movable body that is predicted for corresponding one of the predetermined times. The path searching unit searches for and sets the travel path on a basis of the predictable scenarios created by the predictable scenario creating unit.

Abstract: There is provided a flight control system including a virtual path setting unit, a first evaluation unit, a path determination unit, and a flight controller. The virtual path setting unit is configured to set a plurality of virtual paths other than a current path of an aircraft at a prescribed timing. The first evaluation unit is configured to evaluate envelope protection of each of the current path and the plurality of virtual paths. The path determination unit is configured to determine a path among the current path and the plurality of virtual paths, based on an evaluation result of the envelope protection. The flight controller is configured to control flight of the aircraft based on the determined path.

Abstract: A path searching apparatus includes: a path searching unit that searches for an optimal path of a movable body that performs traveling from a start node to a goal node by performing a path searching process based on A-Star algorithm, and a predicting unit that predicts a surrounding situation of the movable body at each of times in future. The path searching unit determines whether a first surrounding situation involves a change from a second surrounding situation, on a basis of the predicted surrounding situation, and upon determining that the first surrounding situation involves the change, updates an estimated smallest cost value h* of a node on which the searching has been already performed, on a basis of the first surrounding situation.

Abstract: A patrol route setting apparatus includes a cell divider, a probability distribution setter, a random number generator, a destination setter, a route setter, and a probability distribution updating unit. The cell divider divides map information into cells. The probability distribution setter sets, for each cell, a probability distribution of a presence probability of a capturing target in the cell. The destination setter that sets, as a destination, any, of the cells, that has a greatest first value, of the presence probability, corresponding to a random number generated by the random number generator, on the basis of the probability distributions. The probability distribution updating unit updates, on the basis of presence information of the capturing target acquired by an information acquiring unit, the probability distributions of the presence probability of the capturing target, when the movable body travels along the traveling route to the destination set by the route setter.

Abstract: A travel path setting apparatus includes an information acquiring unit, a memory, a predictable scenario creating unit, and a path searching unit. The information acquiring unit acquires surrounding information on a surrounding situation of a movable body. The memory stores a probability model related to the surrounding situation of the movable body. The predictable scenario creating unit creates, on a basis of the surrounding information and the probability model, a plurality of predictable scenarios for each of a plurality of predetermined times in future. The predictable scenarios are each the surrounding situation of the movable body that is predicted for corresponding one of the predetermined times. The path searching unit searches for and sets the travel path on a basis of the predictable scenarios created by the predictable scenario creating unit.

Abstract: A path searching apparatus includes: a path searching unit that searches for an optimal path of a movable body that performs traveling from a start node to a goal node by performing a path searching process based on A-Star algorithm, and a predicting unit that predicts a surrounding situation of the movable body at each of times in future. The path searching unit determines whether a first surrounding situation involves a change from a second surrounding situation, on a basis of the predicted surrounding situation, and upon determining that the first surrounding situation involves the change, updates an estimated smallest cost value h* of a node on which the searching has been already performed, on a basis of the first surrounding situation.