Collaborative Engagement for Target Identification and Tracking

Abstract

A method for controlling unmanned vehicles to maintain line-of-sight between a predetermined target and at least one unmanned vehicle. The method comprises: providing an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track the target; communicating and exchanging data to and among the unmanned ground vehicles; controlling the unmanned air vehicle and the unmanned ground vehicle to maintain line-of-sight between a predetermined target and at least one of the unmanned air vehicles; geolocating the predetermined target with the unmanned air vehicle using information regarding a position of the unmanned air vehicle and information regarding a position of the target relative to the unmanned air vehicle; and transmitting information defining the geolocation of the predetermined target to the unmanned ground vehicle so that the unmanned ground vehicle can perform path planning based on the geolocation.

1 . A method for controlling unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles, the method comprising:
 providing at least one unmanned air vehicle including sensors configured to locate a target and at least one unmanned ground vehicle including sensors configured to locate and track a target;   communicating and exchanging data, using a controller, to and among the at least one unmanned air vehicle and the at least one unmanned ground vehicle;   controlling, using a controller, the at least one unmanned air vehicle and the at least one unmanned ground vehicle to maintain line-of-sight between the predetermined target and at least one of the unmanned air vehicles;   geolocating the predetermined target with the unmanned air vehicle using information regarding a position of the unmanned air vehicle and information regarding a position of the predetermined target relative to the unmanned air vehicle; and   transmitting information defining the geolocation of the predetermined target to the unmanned ground vehicle so that the unmanned ground vehicle can perform path planning based on the geolocation.   
     
     
         2 . The method of  claim 1 , wherein the controller is an operator control unit. 
     
     
         3 . The method of  claim 2 , wherein an operator identifies the predetermined target via the operator control unit. 
     
     
         4 . The method of  claim 1 , wherein, when a first unmanned vehicle has line-of-sight to the predetermined target, another unmanned vehicle utilizes information regarding the position of the first unmanned vehicle and information regarding a position of the predetermined target relative to the first unmanned vehicle to plan a path to reach a position that has or will have line-of-sight to the predetermined target. 
     
     
         5 . The method of  claim 4 , wherein the position that has or will have line-of-sight to the predetermined target takes into account a projected path of the predetermined target. 
     
     
         6 . The method of  claim 1 , further comprising geolocating the predetermined target with the unmanned air vehicle and transmitting information regarding the position of the unmanned air vehicle and information regarding a position of the predetermined target relative to the unmanned air vehicle to the unmanned ground vehicle so that the unmanned ground vehicle can do path planning based on a geolocation of the predetermined target. 
     
     
         7 . The method of  claim 6 , further comprising sending updated information regarding a position of the predetermined target to the unmanned ground vehicle at predetermined intervals. 
     
     
         8 . The method of  claim 1 , wherein the unmanned air vehicle orbits a building containing the predetermined target and determines if the predetermined target exits the building. 
     
     
         9 . The method of  claim 8 , further comprising the unmanned air vehicle sending information regarding predetermined target building entry and exit to one or more unmanned ground vehicles that can surround and/or enter the building to follow the predetermined target. 
     
     
         10 . The method of  claim 1 , further comprising controlling the unmanned vehicles to obtain or maintain line-of-sight using waypoint navigation. 
     
     
         11 . The method of  claim 1 , further comprising controlling the unmanned vehicles to obtain or maintain line-of-sight using path planning. 
     
     
         12 . The method of  claim 1 , further comprising controlling the unmanned vehicles to obtain or maintain line-of-sight using an object avoidance behavior. 
     
     
         13 . The method of  claim 1 , further comprising controlling the unmanned vehicles to obtain or maintain line-of-sight using. 
     
     
         14 . The method of  claim 1 , further comprising allowing an operator override to control the unmanned vehicles. 
     
     
         15 . The method of  claim 14 , further comprising allowing an operator to override waypoint navigation. 
     
     
         16 . The method of  claim 14 , further comprising controlling the unmanned vehicles to assist the operator in searching for a target. 
     
     
         17 . The method of  claim 16 , further comprising the operator designating an area in which the unmanned vehicles navigate to assist the operator in searching for a target. 
     
     
         18 . The method of  claim 16 , further comprising the operator designating an area in which the unmanned vehicles do not navigate to assist the operator in searching for a target or maintain line-of-sight with a target. 
     
     
         19 . A collaborative engagement system comprising:
 at least one unmanned air vehicle including sensors configured to locate a target and at least one unmanned ground vehicle including sensors configured to locate and track a target; and   a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles,   wherein the collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles, geolocating the predetermined target with the unmanned air vehicle and transmitting information defining the geolocation of the predetermined target to the unmanned ground vehicle so that the unmanned ground vehicle can perform path planning based on the geolocation.   
     
     
         20 . The method of  claim 19 , wherein an operator identifies the predetermined target via the controller.