Abstract: The technology relates to route planning and performing driving operations in autonomous vehicles, such as cargo trucks, articulating buses, as well as other vehicles. A detailed kinematic model of the vehicle in evaluated in conjunction with roadgraph and other information to determine whether a route or driving operation is feasible for the vehicle. This can include evaluating a hierarchical set of driving rules and whether current driving conditions impact any of the rules. Driving trajectories and cost can be evaluated when pre-planning a route for the vehicle to follow. This can include determining an ideal trajectory for the vehicle to take a particular driving action. Pre-planned routes may be shared with a fleet of vehicles, and can be modified based on information obtained by different vehicles of the fleet.

Abstract: A method of establishing a system for gathering surveillance data in a hostile environment. The method comprises the steps of providing a movable tractor for ground hauling a trailer, and providing a drone which can be operated independently from the tractor. The trailer has a floor pan for supporting a relay sensor dispensing mechanism and a platform above the floor pan, with a hole for dispensing relay sensors therethrough. The relay sensor dispensing mechanism has an elevator for holding a stockpile of relay sensors, and elevating the relay sensors through the hole. The method comprises disposing at least one relay sensor in the elevator, elevating the relay sensor to a pickup position at or above the platform and retrieving the relay sensor with a drone for subsequent deposition in the hostile environment. The relay sensor then gathers and transceives surveillance data for use and interpretation by an operator. Optional a conveyor chute may replenish the elevator when it is depleted of relay sensors.

Abstract: A system for sending surveillance signals from a hostile environment to an operator. The system comprises an operably movable tractor for ground hauling a trailer and an independently operable drone. The trailer has an actuatable elevator for holding a stockpile of relay sensors and comprising a pair of co-acting elevator belts defining a chute therebetween. The elevator holds a stack of relay sensors for elevation to a pickup-position by the drone. Optionally a conveyor chute may replenish the stack of relay sensors in the elevator.

Abstract: A communication system for sending surveillance signals in a hostile environment to an operator. The communication system comprises a plurality of relay sensors to transceive collected data between sequential relay sensors and ultimately to an operator. The communication system has a tractor for dispensing plural relay sensors throughout the hostile environment. The sensors may be dispensed by an elevator to a position where a relay sensor can be retrieved by a drone for placement to maintain line of sight communication. And relay sensors can be dispensed directly from the tractor to the ground or water. Direct dispensing of the relay sensors can occur through a hole in tractor or off a ramp.