Selection between Explore Mode and Control Mode for Aerial Vehicle

Abstract

Example implementations may relate to selection between a first mode and a second mode. The first mode may involve (i) directing an aerial vehicle (e.g., in an aerial network including a plurality of aerial vehicles) to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude. Whereas, the second mode may involve (i) selecting at least one altitude based on the determined wind-related data and (ii) directing the aerial vehicle to reposition to the at least one selected altitude. As such, a control system may determine flight data for the aerial vehicle. Based on the flight data, the control system may make a selection between the first mode and the second mode. And based on the selection, the control system may then operate the aerial vehicle according to the first mode or may operate the aerial vehicle according to the second mode.

We claim: 
     
         1 . A control system comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for a particular aerial vehicle in an aerial network comprising a plurality of aerial vehicles; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the particular aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the particular aerial vehicle to reposition to the at least one altitude; and 
 based on the selection, operate the particular aerial vehicle according to the first mode or operate the particular aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining a level of uncertainty related to wind conditions at an altitude of the plurality of altitudes, wherein making the selection between the first mode and the second mode is based at least in part on the level of uncertainty, and wherein determining the level of uncertainty comprises:
 determining a first set of data representative of recorded wind conditions at the altitude; 
 determining a second set of data representative of one or both of the following conditions: (i) historical wind conditions at the altitude and (ii) predicted future wind conditions at the altitude; 
 comparing the first set of data to the second set of data; and 
 determining the level of uncertainty based on the comparison. 
 
   
     
     
         2 . The control system of  claim 1 , wherein some or all of the plurality of aerial vehicles comprise an airborne network. 
     
     
         3 . An aerial vehicle comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for the aerial vehicle; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the aerial vehicle to reposition to the at least one selected altitude; and 
 based on the selection, operate the aerial vehicle according to the first mode or operate the aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining a level of uncertainty related to wind conditions at an altitude of the plurality of altitudes, wherein making the selection between the first mode and the second mode is based at least in part on the level of uncertainty, and wherein determining the level of uncertainty comprises:
 determining a first set of data representative of recorded wind conditions at the altitude; 
 determining a second set of data representative of one or both of the following conditions: (i) historical wind conditions at the altitude and (ii) predicted future wind conditions at the altitude; 
 comparing the first set of data to the second set of data; and 
 determining the level of uncertainty based on the comparison. 
 
   
     
     
         4 . The aerial vehicle of  claim 3 , further comprising a communication system configured to transmit and/or receive one or both of a radio signal and an optical signal. 
     
     
         5 . A control system comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for a particular aerial vehicle in an aerial network comprising a plurality of aerial vehicles; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the particular aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the particular aerial vehicle to reposition to the at least one altitude; and 
 based on the selection, operate the particular aerial vehicle according to the first mode or operate the particular aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining a capability of the particular aerial vehicle to move in a direction, and wherein making the selection between the first mode and the second mode is based at least in part on the capability of the particular aerial vehicle to move in the direction. 
   
     
     
         6 . The control system of  claim 5 , wherein some or all of the plurality of aerial vehicles comprise an airborne network. 
     
     
         7 . An aerial vehicle comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for the aerial vehicle; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the aerial vehicle to reposition to the at least one selected altitude; and 
 based on the selection, operate the aerial vehicle according to the first mode or operate the aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining a capability of the aerial vehicle to move in a direction, and wherein making the selection between the first mode and the second mode is based at least in part on the capability of the aerial vehicle to move in the direction. 
   
     
     
         8 . The aerial vehicle of  claim 7 , further comprising a communication system configured to transmit and/or receive one or both of a radio signal and an optical signal. 
     
     
         9 . A control system comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for a particular aerial vehicle in an aerial network comprising a plurality of aerial vehicles; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the particular aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the particular aerial vehicle to reposition to the at least one altitude; and 
 based on the selection, operate the particular aerial vehicle according to the first mode or operate the particular aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining a capability of the particular aerial vehicle to move at a velocity, and wherein making the selection between the first mode and the second mode is based at least in part on the capability of the particular aerial vehicle to move at the velocity. 
   
     
     
         10 . The control system of  claim 9 , wherein some or all of the plurality of aerial vehicles comprise an airborne network. 
     
     
         11 . An aerial vehicle comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for the aerial vehicle; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the aerial vehicle to reposition to the at least one selected altitude; and 
 based on the selection, operate the aerial vehicle according to the first mode or operate the aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining a capability of the aerial vehicle to move at a velocity, and wherein making the selection between the first mode and the second mode is based at least in part on the capability of the aerial vehicle to move at the velocity. 
   
     
     
         12 . The aerial vehicle of  claim 11 , further comprising a communication system configured to transmit and/or receive one or both of a radio signal and an optical signal. 
     
     
         13 . A control system comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for a particular aerial vehicle in an aerial network comprising a plurality of aerial vehicles; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the particular aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the particular aerial vehicle to reposition to the at least one altitude; and 
 based on the selection, operate the particular aerial vehicle according to the first mode or operate the particular aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining a level of energy stored in an energy storage device of the particular aerial vehicle, wherein making the selection comprises:
 determining whether the level of energy is below, at or above a threshold level of energy; 
 if the level of energy is below the threshold level of energy, selecting the second mode; and 
 if the level of energy is at or above the threshold level of energy, selecting the first mode. 
 
   
     
     
         14 . The control system of  claim 13 , wherein some or all of the plurality of aerial vehicles comprise an airborne network. 
     
     
         15 . An aerial vehicle comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for the aerial vehicle; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the aerial vehicle to reposition to the at least one selected altitude; and 
 based on the selection, operate the aerial vehicle according to the first mode or operate the aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining a level of energy stored in an energy storage device of the aerial vehicle, wherein making the selection comprises:
 determining whether the level of energy is below, at or above a threshold level of energy; 
 if the level of energy is below the threshold level of energy, selecting the second mode; and 
 if the level of energy is at or above the threshold level of energy, selecting the first mode. 
 
   
     
     
         16 . The aerial vehicle of  claim 15 , further comprising a communication system configured to transmit and/or receive one or both of a radio signal and an optical signal. 
     
     
         17 . A control system comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for a particular aerial vehicle in an aerial network comprising a plurality of aerial vehicles; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the particular aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the particular aerial vehicle to reposition to the at least one altitude; and 
 based on the selection, operate the particular aerial vehicle according to the first mode or operate the particular aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining service currently being provided by the particular aerial vehicle in a current coverage area of the particular aerial vehicle, and wherein making the selection is based at least in part on the service currently being provided by the particular aerial vehicle in the current coverage area of the particular aerial vehicle. 
   
     
     
         18 . The control system of  claim 17 , wherein some or all of the plurality of aerial vehicles comprise an airborne network. 
     
     
         19 . An aerial vehicle comprising:
 one or more processors;   a non-transitory computer readable medium; and   program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
 determine flight data for the aerial vehicle; 
 based at least in part on the flight data, make a selection between a first mode and a second mode, wherein operation in the first mode comprises the one or more processors (i) directing the aerial vehicle to navigate to each of a plurality of altitudes and (ii) determining respective wind-related data at each respective altitude of the plurality of altitudes, and wherein operation in the second mode comprises the one or more processors (i) selecting at least one altitude based at least in part on the respective wind-related data for the at least one altitude and (ii) directing the aerial vehicle to reposition to the at least one selected altitude; and 
 based on the selection, operate the aerial vehicle according to the first mode or operate the aerial vehicle according to the second mode, 
 wherein determining the flight data comprises determining service currently being provided by the aerial vehicle in a current coverage area of the aerial vehicle, and wherein making the selection is based at least in part on the service currently being provided by the aerial vehicle in the current coverage area of the aerial vehicle. 
   
     
     
         20 . The aerial vehicle of  claim 19 , further comprising a communication system configured to transmit and/or receive one or both of a radio signal and an optical signal.