A flying machine storage container is provided that comprises multiple charging stations and a clamping mechanism. The clamping mechanism is configured to secure flying machines in the charging stations and securely close charging circuits between the storage container and the flying machines. A system for launching flying machines is also provided. The system comprises two regions and a transition region between the two regions. The two regions each constrain the positioning of a flying machine and the transition region enables a flying machine to move from the first region to the second region to reach an exit. A flying machine having sufficient performance capabilities will be able to successfully launch. Centralized and decentralized communication architectures are also provided for communicating data between a central control system, multiple storage containers, and multiple stored flying machines stored at each of the storage containers.
According to the present invention there is provided an aerial vehicle that is operable to fly, the aerial vehicle having at least a first and second subsystem that are operably connected, wherein the first subsystem comprises a first flight module, first one or more effectors that are selectively operable to generate a first force sufficient to cause the aerial vehicle to fly; and the second subsystem comprises a second flight module, second one or more effectors that are selectively operable to generate a second force sufficient to cause the aerial vehicle to fly; such that the first or second subsystem can be selectively used to fly the aerial vehicle not relying on the one or more effectors of the other subsystem. There is further provided a corresponding method for controlling an aerial vehicle.
According to the present invention there is provide a method of creating a landmark map comprising the steps of: capturing a plurality of frame using a camera, each frame comprising an image; assigning an image number which denotes the order in which each frame was taken; extracting features from all the images in the captured frames; assigning a distinct identifier to each respective feature which was extracted from the image belonging to the frame which was first captured; for each image belonging to the respective frames which was captured after the first frame was captured, carrying out the following steps: (i) computing a distance between, the location of each respective extracted feature in that image, and the location of each respective feature extracted from image belonging to a previously captured frame; and (ii) determining if said computed distance is less than, a predefined threshold distance; and if the computed distance is not less than said predefined threshold distance then assign that extracted feature the same identifier as is assigned to the extracted feature in the image belonging to the previously captured frame; if the computed distance is greater than the predefined threshold distance, then assign a new identifier to the extracted feature; providing a list of features which comprises image numbers which denotes each of the captured frames; for each respective image number the identifiers which denote the features which were extracted from the image belonging to that frame; and for each identifier the coordinates which represent the location of the extracted feature in that image; carrying out structure-from-motion followed by repeated landmark representation merging and bundle adjustment, using the list of features, so as to create a landmark map. There is further provided an assembly having a processor which is configured to carry out said method of creating a landmark map.
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G06T 7/579 - Récupération de la profondeur ou de la forme à partir de plusieurs images à partir du mouvement
G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c. à d. étalonnage de caméra
G06V 10/44 - Extraction de caractéristiques locales par analyse des parties du motif, p.ex. par détection d’arêtes, de contours, de boucles, d’angles, de barres ou d’intersections; Analyse de connectivité, p.ex. de composantes connectées
4.
METHODS AND SYSTEMS FOR SCHEDULING THE TRANSMISSION OF LOCALIZATION SIGNALS AND OPERATING SELF-LOCALIZING APPARATUS
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
H04W 4/30 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/04 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques - Détails
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/247 - utilisant des signaux fournis par des sources artificielles extérieures au véhicule, p. ex. balises de navigation
G05D 1/652 - Décollage (livraison ou récupération de charges utiles G05D 1/667)
According to the present invention there is provided a method of taking a measurement using a sensor mounted on an aerial vehicle, the aerial vehicle having one or more propellers and one or more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly, and a sensor mounted on the aerial vehicle, the method comprising the steps of, operating the one or more motors to drive the one or more propellers to cause the vehicle to fly; at a first time instant, slowing down or turning off said one or more motors; while the one or more motors are slowed down or turned off, taking a measurement using said sensor; at a second time instant, which is after the measurement has been taken using the sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly. There is further provided a corresponding aerial vehicle.
The invention relates to a method for determining a state xk (9) of a localizing apparatus at a time tk, the state xk being a realization of a state random variable Xk. The method comprises the following steps: a) receiving a first image (1) of a scene of interest (15) in an indoor environment (15), wherein the indoor environment (15) comprises N prearranged landmarks (16) having known positions in a world coordinate system (12), N being a natural number; b) receiving a second image (2) of a scene of interest (15) in the indoor environment (15); c) receiving a state estimate Formula {circumflex over ( )}I (3) of the localizing apparatus at the time tk; d) receiving positions of currently mapped simultaneous-localization-and-mapping (SLAM) landmarks (4) in the scene of interest (15), wherein a map state sk comprises at least (i) the state xk of a localizing apparatus, (ii) the positions of the currently mapped SLAM landmarks (4), and (iii) the positions of the pre-arranged landmarks (16); e) determining (5) positions of features in the first image (1), being a natural number smaller than or equal to, and determining (5) an injective mapping estimate from the features into the set of pre-arranged landmarks (16); f) determining (6) positions of L SLAM features in the second image (2), and determining m SLAM features in the L SLAM features, wherein said m SLAM features are related to the n currently mapped SLAM landmarks (4), and determining (6) a SLAM injective mapping estimate from the m SLAM features into the set of the n currently mapped SLAM landmarks (4); g) using the determined injective mapping estimate and the determined SLAM injective mapping estimate to set up (7) a joint observation model as part of a state-space model, wherein the joint observation model is configured to map a map state random variable Sk of which the map state sk is a realization onto a joint observation random variable Zk, wherein at the time tk, an observation zk is a realization of the joint observation random variable Zk, and wherein the observation comprises the position of at least one of the M features in the first image (1) and the position of at least one of the m SLAM features in the second image (2); and h) using (8) (i) the state estimate Formula {circumflex over ( )}I (3), (ii) the joint observation model, and (iii) the observation zk, to determine the state xk (9) of the localizing apparatus at the time tk and to update the positions of the n currently mapped SLAM landmarks. The invention also relates to a computer program product and an assembly.
According to the present invention there is provide a method a method for matching features in an image with landmark representations in a landmark map, the method comprising: providing at least one image; extracting from the image one or more features; providing a landmark map comprising a list of landmark representations, wherein each landmark representation is a representation of a respective physical landmark; creating a plurality of policies, each policy comprising at least one matching decision of the feature and the landmark representation, each matching decision having a stage cost; assigning a policy cost to each of the policies, wherein the policy cost is a function of the stage costs of the matching decisions the policy is comprised of; selecting from the collection of the policies the policy with the desired policy cost. There is further provided an assembly having a processor which is configured to carry out said method.
G06V 10/74 - Appariement de motifs d’image ou de vidéo; Mesures de proximité dans les espaces de caractéristiques
G06T 5/20 - Amélioration ou restauration d'image en utilisant des opérateurs locaux
G06T 7/50 - Récupération de la profondeur ou de la forme
G06T 7/62 - Analyse des attributs géométriques de la superficie, du périmètre, du diamètre ou du volume
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
G06V 10/44 - Extraction de caractéristiques locales par analyse des parties du motif, p.ex. par détection d’arêtes, de contours, de boucles, d’angles, de barres ou d’intersections; Analyse de connectivité, p.ex. de composantes connectées
G06V 10/764 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant la classification, p.ex. des objets vidéo
8.
PATH PLANNING GRAPH GENERATION AND REAL-TIME PATH PLANNING FOR AUTONOMOUS VEHICLES
Systems and methods are provided for generating path planning graphs. A free space map is accessed comprising a plurality of geometric elements. For each geometric element, boundary jump surfaces are defined and propagated through neighboring geometric elements, and for each geometric element boundary through which a boundary jump plan is propagated, one or more transition jump surfaces are defined. A path planning graph is generated based on the defined boundary jump surfaces and transition jump surfaces. Additional starting and ending jump surfaces may be defined for the starting and ending point of a path. Systems and methods are also provided for determining paths. Costs are assigned to a plurality of available path segments based on data indicating risk of encountering obstacles and the path is determined from a starting point to an ending point based on the assigned costs.
Systems and methods are provided for generating path planning graphs. A free space map is accessed comprising a plurality of geometric elements. For each geometric element, boundary jump surfaces are defined and propagated through neighboring geometric elements, and for each geometric element boundary through which a boundary jump plan is propagated, one or more transition jump surfaces are defined. A path planning graph is generated based on the defined boundary jump surfaces and transition jump surfaces. Additional starting and ending jump surfaces may be defined for the starting and ending point of a path. Systems and methods are also provided for determining paths. Costs are assigned to a plurality of available path segments based on data indicating risk of encountering obstacles and the path is determined from a starting point to an ending point based on the assigned costs.
The invention relates to a method for determining a state xk (8) of a camera (11) at a time tk, the state xk (8) being a realization of a state random variable Xk, wherein the state is related to a state-space model of a movement of the camera (11). The method comprises the following steps: a) receiving an image (1) of a scene of interest (15) in an indoor environment (15) captured by the camera (11) at the time tk, wherein the indoor environment (15) comprises N landmarks (9) having known positions in a world coordinate system (12), N being a natural number; b) receiving a state estimate x{circumflex over ( )}k (2) of the camera (11) at the time tk, c) determining (3) positions of M features in the image (1), M being a natural number; d) receiving (4) distance data indicative of distance between the M features and the corresponding M landmarks (9), respectively; e) determining (5) an injective mapping estimate from the M features into the set of the N landmarks (9) using at least (i) the positions of the M features in the image and (ii) the state estimate (2); f) using the determined injective mapping estimate (5) to set up (6) an observation model in the state-space model, wherein the observation model is configured for mapping the state random variable Xk of the camera onto a joint observation random variable Zk, wherein at the time tk, an observation zk is a realization of the joint observation random variable Zk, and wherein the observation zk comprises (i) the position of at least one of the M features in the image, and (ii) the distance data indicative of distance; and g) using (7) (i) the state estimate, (ii) the observation model, and (iii) the observation zk, to determine the state xk (8) of the camera at the time tk. The invention also relates to a computer program product and to an assembly.
The invention relates to a method for controlling a light source (7), the method using (a) at least one pose estimate (1) of a camera (8) configured to capture one or more images of a scene of interest (13) which comprises at least one landmark (9), as said light source is operated to emit light which illuminates said scene of interest, (b) a landmark map (2) comprising at least 3D location information of a plurality of landmarks comprising the at least one landmark in the scene of interest, (c) an illumination model (3) describing a relationship between an emission illumination power and reflection illumination power, wherein said emission illumination power is the power of light emitted by the light source (7) to illuminate said scene of interest, and said reflection illumination power is the illumination power of light reflected by one or more landmarks in said scene of interest and received by the camera, and (d) a predefined threshold reflection illumination power (4). The method comprises the following steps: (a) determining (5), for at least one of the plurality of landmarks, at least one optimized emission illumination power of light (6) to be emitted by the light source, and an illumination time course (6) during which the light source should be operated to emit light which has an emission illumination power which is equal to the at least one optimized emission illumination power, using (i) the at least one pose estimate (1) of the camera, (ii) the 3D location information of the at least one of the plurality of landmarks, (iii) the illumination model (3), and (iv) the predefined threshold reflection illumination power (4); and (b) operating the light source (7) to emit light which has an emission illumination power which is equal to the at least one optimized emission illumination power (6), for a time period which is equal to the determined illumination time course (6).
H05B 47/115 - Commande de la source lumineuse en réponse à des paramètres détectés en détectant la présence ou le mouvement d'objets ou d'êtres vivants
B64D 47/04 - Aménagements ou adaptations des dispositifs de signalisation ou d'éclairage les dispositifs d'éclairage étant essentiellement destinés à éclairer la route sur l'avant
G01C 21/20 - Instruments pour effectuer des calculs de navigation
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
12.
METHOD AND SYSTEM FOR TRACKING A STATE OF A CAMERA
The invention relates to a method for determining a state xk (7) of a camera (11) at a time tk, the state xk (7) being a realization of a state random variable Xk, wherein the state is related to a state-space model of a movement of the camera (11). The method comprises the following steps: a) receiving an image (1) of a scene of interest (8) in an indoor environment (8) captured by the camera (11) at the time tk, wherein the indoor environment (8) comprises N landmarks (9) having known positions and orientations in a world coordinate system (12), N being a natural number; b) receiving a state estimate Formula I (2) of the camera (11) at the time tk, wherein the state estimate (2) comprises an estimate of the pose of the camera; c) determining (3) positions of M features in the image (1), M being a natural number; and d) determining (6) the state xk (7) of the camera (11) at the time tk based on (i) observation zk at the time tk, the observation zk being a realization of a joint observation random variable zk, the observation zk comprising the positions of the M features and data indicative of distance between each of the M features and its corresponding object point in the scene of interest, respectively, and (ii) the state estimate Formula {circumflex over ( )}I (2), wherein the determining (6) of the state xk (7) comprises determining (4) an injective mapping estimate from at least a subset of the M features into the set of the N landmarks (9), and wherein the determining (6) of the state xk (7) is based on an observation model set up (5) based on the determined injective mapping estimate. The invention also relates to a computer program product and to an assembly.
A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
H04B 1/7163 - Techniques d'étalement de spectre utilisant un signal radio impulsionnel
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
The present invention relates to a method for identifying at least one candidate feature in an image of a scene of interest captured by a camera, and to a method for capturing an image, with spatial variations in image sharpness, of a scene of interest by a camera, and to a method for determining a state xk of a camera at a time tk, as well as to an assembly and two computer program products.
A system comprising, a plurality of unmanned aerial vehicles and a single controller for controlling said plurality of unmanned aerial vehicles, wherein the single controller is configured such that it can broadcast a command to all of the plurality of unmanned aerial vehicles so that each of the plurality of unmanned aerial vehicles receive the same command; and wherein each of the unmanned aerial vehicles comprise a memory which stores a plurality of predefined flight paths each of which is assigned to a respective command; and wherein each of the unmanned aerial vehicles comprise a processor which can, (i) receive a command which has been broadcasted by the single controller to said plurality of unmanned aerial vehicles, (ii) retrieve from the memory of that aerial vehicle the flight path which is assigned in the memory to that command, and (iii) operate the aerial vehicle to follow the retrieved flight path. There is further provided a corresponding method of controlling a plurality of unmanned aerial vehicles.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
Systems and methods are provided for determining whether an image or location contains a barcode. The systems and methods include comparing visual data extracted from an image to target visual data. The systems and methods also include comparing different portions of captured barcode data to corresponding portions of target barcode data. The systems and methods also include utilizing barcode formatting data when comparing or computing a similarity measure. The systems and methods also include causing a second image to be captured when no match is found in a first image. The systems and methods also include identifying a target barcode from a barcode database based on spatial information about where an image was captured. The systems and methods also include validating a barcode based on different regions of the barcode from two different images of the barcode. The systems and methods also include using two barcodes captured in an image.
G06K 7/14 - Méthodes ou dispositions pour la lecture de supports d'enregistrement par radiation corpusculaire utilisant la lumière sans sélection des longueurs d'onde, p.ex. lecture de la lumière blanche réfléchie
G06V 10/74 - Appariement de motifs d’image ou de vidéo; Mesures de proximité dans les espaces de caractéristiques
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
17.
METHODS AND SYSTEMS FOR ESTIMATING THE ORIENTATION OF AN OBJECT
The system receives position information in both an internal coordinate frame and an external coordinate frame. The system uses a comparison of position information in these flames to determine orientation information. The system determines one or more orientation hypotheses, and analyzes the position information based on these hypotheses. The system may include on-board accelerometers, gyroscopes, or both that provide the measurements in the internal coordinate frame. These measurements may be integrated otherwise processed to determine position, velocity, or both. Measurements in the external frame are provided by GPS sensors or other positioning systems. Position information is transformed to a common coordinate frame, and an error metric is determined. Based on the error metric, the system estimates a likelihood metric for each hypothesis, and determines a resulting hypothesis based on the maximum likelihood or a combination of likelihoods.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01C 21/16 - Navigation; Instruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigant; Navigation à l'estime en intégrant l'accélération ou la vitesse, c. à d. navigation par inertie
G01C 21/18 - Plates-formes stabilisées, p.ex. par un gyroscope
G01C 22/00 - Mesure de la distance parcourue sur le sol par des véhicules, des personnes, des animaux ou autres corps solides en mouvement, p.ex. en utilisant des odomètres ou en utilisant des podomètres
18.
Systems and methods for charging, transporting, and operating flying machines
A flying machine storage container is provided that comprises multiple charging stations and a clamping mechanism. The clamping mechanism is configured to secure flying machines in the charging stations and securely close charging circuits between the storage container and the flying machines. A system for launching flying machines is also provided. The system comprises two regions and a transition region between the two regions. The two regions each constrain the positioning of a flying machine and the transition region enables a flying machine to move from the first region to the second region to reach an exit. A flying machine having sufficient performance capabilities will be able to successfully launch. Centralized and decentralized communication architectures are also provided for communicating data between a central control system, multiple storage containers, and multiple stored flying machines stored at each of the storage containers.
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
H04W 4/30 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/04 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques - Détails
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
A system comprising, a plurality of unmanned aerial vehicles and a single controller for controlling said plurality of unmanned aerial vehicles, wherein the single controller is configured such that it can broadcast a command to all of the plurality of unmanned aerial vehicles so that each of the plurality of unmanned aerial vehicles receive the same command; and wherein each of the unmanned aerial vehicles comprise a memory which stores a plurality of predefined flight paths each of which is assigned to a respective command; and wherein each of the unmanned aerial vehicles comprise a processor which can, (i) receive a command which has been broadcasted by the single controller to said plurality of unmanned aerial vehicles, (ii) retrieve from the memory of that aerial vehicle the flight path which is assigned in the memory to that command, and (iii) operate the aerial vehicle to follow the retrieved flight path. There is further provided a corresponding method of controlling a plurality of unmanned aerial vehicles.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
According to the present invention there is provided a method of taking a measurement using a sensor mounted on an aerial vehicle, the aerial vehicle having one or more propellers and one or more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly, and a sensor mounted on the aerial vehicle, the method comprising the steps of, operating the one or more motors to drive the one or more propellers to cause the vehicle to fly; at a first time instant, slowing down or turning off said one or more motors; while the one or more motors are slowed down or turned off, taking a measurement using said sensor; at a second time instant, which is after the measurement has been taken using the sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly. There is further provided a corresponding aerial vehicle.
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/04 - Commande de l'altitude ou de la profondeur
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c. à d. systèmes dans lesquels le signal vidéo n'est pas diffusé
22.
ANGLE INFORMATION ESTIMATION OF ULTRA-WIDEBAND WIRELESS SIGNALS
The invention relates to a method and device for estimating angle information (50) of a received ultra-wideband wireless signal. Upon reception of a wireless signal emitted from a transmitting device (20) with known sounding sequence, the receiving device (10) estimates the channel impulse response (CIR), selects a portion of the channel impulse response (CIR), and estimates angle information (50) given the angle-dependent antenna transfer functions of either the transmitting device (20), the receiving device (10), or both. For this, the selected portion of the channel impulse response of the signal is fed into a neural network (73) which outputs an angle information probability distribution for the ultra-wideband wireless signal (50).
G01S 3/60 - Systèmes à faisceau large produisant au récepteur un signal enveloppe réellement sinusoïdal de l'onde porteuse du faisceau dont l'angle de phase dépend de l'angle entre la direction de l'émetteur par rapport au récepteur et une direction de référence
G01S 13/02 - Systèmes utilisant la réflexion d'ondes radio, p.ex. systèmes du type radar primaire; Systèmes analogues
H04B 1/7163 - Techniques d'étalement de spectre utilisant un signal radio impulsionnel
23.
SYSTEM AND METHOD FOR CONTROLLING A LIGHT SOURCE FOR ILLUMINATING A SCENE OF INTEREST
The invention relates to a method for controlling a light source (7), the method using (a) at least one pose estimate (1) of a camera (8) configured to capture one or more images of a scene of interest (13) which comprises at least one landmark (9), as said light source is operated to emit light which illuminates said scene of interest, (b) a landmark map (2) comprising at least 3D location information of a plurality of landmarks comprising the at least one landmark in the scene of interest, (c) an illumination model (3) describing a relationship between an emission illumination power and reflection illumination power, wherein said emission illumination power is the power of light emitted by the light source (7) to illuminate said scene of interest, and said reflection illumination power is the illumination power of light reflected by one or more landmarks in said scene of interest and received by the camera, and (d) a predefined threshold reflection illumination power (4). The method comprises the following steps: (a) determining (5), for at least one of the plurality of landmarks, at least one optimized emission illumination power of light (6) to be emitted by the light source, and an illumination time course (6) during which the light source should be operated to emit light which has an emission illumination power which is equal to the at least one optimized emission illumination power, using (i) the at least one pose estimate (1) of the camera, (ii) the 3D location information of the at least one of the plurality of landmarks, (iii) the illumination model (3), and (iv) the predefined threshold reflection illumination power (4); and (b) operating the light source (7) to emit light which has an emission illumination power which is equal to the at least one optimized emission illumination power (6), for a time period which is equal to the determined illumination time course (6).
xkk tkk xkk Xkk tkk NNx^kk tkk MMMMMNMXkk Zkk tkk zkk Zkk zkk Mzkk xkk tkk k . The invention also relates to a computer program product and to an assembly.
k kkkkNNkMMkkkkkkkMM kMNkk (7) is based on an observation model set up (5) based on the determined injective mapping estimate. The invention also relates to a computer program product and to an assembly.
Systems and methods are provided for processing time of flight (ToF) data generated by a ToF camera. Such systems and methods may comprise receiving the ToF data comprising fine depth data and coarse depth data of an environment, processing the received coarse depth data in real time to generate one of a coarse three-dimensional (3D) representation or an intensity image of the environment, storing the received fine depth data and the coarse depth data, and processing the stored fine depth data and the coarse depth data, at a later time, to generate a fine 3D representation of the environment.
H04N 13/254 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques en combinaison avec des sources de rayonnement électromagnétique pour l’éclairage du sujet
29.
SYSTEM AND METHOD TO DETERMINE WHETHER AN IMAGE CONTAINS A SPECIFIC BARCODE
Systems and methods are provided for determining whether an image or location contains a barcode. The systems and methods include comparing visual data extracted from an image to target visual data. The systems and methods also include comparing different portions of captured barcode data to corresponding portions of target barcode data. The systems and methods also include utilizing barcode formatting data when comparing or computing a similarity measure. The systems and methods also include causing a second image to be captured when no match is found in a first image. The systems and methods also include identifying a target barcode from a barcode database based on spatial information about where an image was captured. The systems and methods also include validating a barcode based on different regions of the barcode from two different images of the barcode. The systems and methods also include using two barcodes captured in an image.
Systems and methods are provided for determining obstacle-free paths of an areal vehicle in a warehouse and for determining shortcuts to be generated in the warehouse to increase the number of obstacle-free paths available to the areal vehicle. The systems and methods include predicting at least one location of an inventory moving device in the warehouse based on the status of received inventory moving tasks, and determining an obstacle-free path of an aerial vehicle to a desired location in the warehouse based on the predicted at least one location of the inventory moving device. The systems and methods also include receiving inventory validation tasks in a warehouse comprising a plurality of storage racks, requesting, based on the received inventory validation tasks, a shortcut to be generated in a storage rack of the plurality of storage racks to provide a path segment for performing the inventory validation task.
Systems and methods are provided for determining obstacle-free paths of an areal vehicle in a warehouse and for determining shortcuts to be generated in the warehouse to increase the number of obstacle-free paths available to the areal vehicle. The systems and methods include predicting at least one location of an inventory moving device in the warehouse based on the status of received inventory moving tasks, and determining an obstacle-free path of an aerial vehicle to a desired location in the warehouse based on the predicted at least one location of the inventory moving device. The systems and methods also include receiving inventory validation tasks in a warehouse comprising a plurality of storage racks, requesting, based on the received inventory validation tasks, a shortcut to be generated in a storage rack of the plurality of storage racks to provide a path segment for performing the inventory validation task.
B65G 1/137 - Dispositifs d'emmagasinage mécaniques avec des aménagements ou des moyens de commande automatique pour choisir les objets qui doivent être enlevés
G06Q 10/08 - Logistique, p.ex. entreposage, chargement ou distribution; Gestion d’inventaires ou de stocks
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
32.
System and method to determine whether an image contains a specific barcode
Systems and methods are provided for determining whether an image or location contains a barcode. The systems and methods include comparing visual data extracted from an image to target visual data. The systems and methods also include comparing different portions of captured barcode data to corresponding portions of target barcode data. The systems and methods also include utilizing barcode formatting data when comparing or computing a similarity measure. The systems and methods also include causing a second image to be captured when no match is found in a first image. The systems and methods also include identifying a target barcode from a barcode database based on spatial information about where an image was captured. The systems and methods also include validating a barcode based on different regions of the barcode from two different images of the barcode. The systems and methods also include using two barcodes captured in an image.
G06K 7/14 - Méthodes ou dispositions pour la lecture de supports d'enregistrement par radiation corpusculaire utilisant la lumière sans sélection des longueurs d'onde, p.ex. lecture de la lumière blanche réfléchie
G06V 10/74 - Appariement de motifs d’image ou de vidéo; Mesures de proximité dans les espaces de caractéristiques
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
H04W 4/30 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques
H04W 4/021 - Services concernant des domaines particuliers, p.ex. services de points d’intérêt, services sur place ou géorepères
H04W 4/029 - Services de gestion ou de suivi basés sur la localisation
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
H04W 4/02 - Services utilisant des informations de localisation
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01S 1/04 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques - Détails
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
A flying machine storage container is provided that comprises multiple charging stations and a clamping mechanism. The clamping mechanism is configured to secure flying machines in the charging stations and securely close charging circuits between the storage container and the flying machines. A system for launching flying machines is also provided. The system comprises two regions and a transition region between the two regions. The two regions each constrain the positioning of a flying machine and the transition region enables a flying machine to move from the first region to the second region to reach an exit. A flying machine having sufficient performance capabilities will be able to successfully launch. Centralized and decentralized communication architectures are also provided for communicating data between a central control system, multiple storage containers, and multiple stored flying machines stored at each of the storage containers.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
39 - Services de transport, emballage et entreposage; organisation de voyages
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Downloadable software for drone control; downloadable computer software for logistics management; downloadable computer software for warehouse automation; downloadable computer software for automating logistics processes and warehouse automation; downloadable computer software for digitalization in warehouse management; downloadable computer software for the entertainment industry, namely, software for live music, entertainment, theater and sport shows; sensors for determining position; cameras with linear image sensors; optical sensors; data processing apparatus; downloadable data processing software programs; readers being data processing equipment; magnetic encoders; data processing apparatus and computers; scanners in the nature of data processing equipment Apparatus for locomotion by land, air or water, namely, drones and autonomous drone systems; camera drones; delivery drones; civilian drones Data processing; electronic inventory management services; computerized inventory control; computerized inventory preparation for warehouse management; collection and processing of information, particularly compilation and systemization of information into computer databases; compilation, systemization, and recording of data in a database; statistical analysis of data in computer databases for business purposes Piloting of civilian drones Entertainment services, namely, entertainment in the nature of organizing large-scale live exhibitions for cultural or entertainment purposes, organizing live music concerts as well as interactive entertainment services, namely, live music concert services featuring interaction with flying vehicles, remote piloted aircraft systems, unmanned aerial vehicles/systems, remotely operated vehicles and organization of live shows or live performances for entertainment or cultural purposes related to flying vehicles, remote piloted aircraft systems, unmanned aerial vehicles/systems, and remotely operated vehicles; sporting and cultural activities in the nature of organizing large-scale live exhibitions for cultural or entertainment purposes; presentation of live entertainment events in the nature of drone light shows and drone choreography shows; film, music, sport, video and theatre entertainment services in the nature of drone light shows and drone choreography shows; production of live entertainment in the nature of drone light shows and drone choreography shows; digital video, audio and multimedia entertainment publishing services; recording studio and film studio services for the production of multimedia presentations Technological services and research and design relating thereto, namely, design and development of autonomous drone systems, warehouse automation, warehouse management system integration, and automatization of inventory control; design and development of computer software for logistics; design and development of computer software for entertainment; development of computer programs for data processing; development of data processing systems; electronic digitization of sound and images; consultancy in the field of cloud computing networks and applications; providing temporary use of non-downloadable software applications accessible via a web site, namely, software to access, make use of, maintain and operate warehouse management systems, inventory control systems, warehouse automation systems, warehouse management system integration, automatization of inventory control and for business data management; providing temporary use of on-line non-downloadable operating software for accessing and using a cloud computing network; providing temporary use of downloadable and non-downloadable data import and management software; cloud computing; computer programming services for data warehousing; data encoding services; data conversion services; design and development of navigation systems and route planning software; design and development of systems for data input, output, processing, display and storage; programming of computer software for evaluation and calculation of data; testing, analysis and evaluation of the goods and services of others for the purpose of certification; quality control of goods and services; scanning of images (conversion from physical to electronic media); providing temporary use of online non-downloadable software for drone control; providing temporary use of online non-downloadable software for logistics management; providing temporary use of online non-downloadable software for warehouse automation; providing temporary use of online non-downloadable software for automating logistics processes and warehouse automation; providing temporary use of online non-downloadable software for digitalization in warehouse management; providing temporary use of online non-downloadable software for the entertainment industry, namely, software for live music, entertainment, theatre and sport shows
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
39 - Services de transport, emballage et entreposage; organisation de voyages
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Software for controlling drones; computer software for
logistics; computer software for warehouse automation;
computer software for automated logistics processes and
warehouse automation; computer software for digitization in
the field of warehouse management; computer software for the
entertainment industry; position sensors; cameras with
linear image sensors; optical sensors; data processing
apparatus; data processing programs; readers (data
processing equipment); magnetic encoders; data processing
apparatus and computers; scanners (data processing
equipment). Apparatus for locomotion by land, air or water; drone
cameras; delivery drones; civilian drones. Data processing services; electronic inventory management
services; computerized inventory control services;
computerized inventory preparation services; input and
processing of information, particularly compilation and
systematization of information in computer databases; data
collection, systematization and recording in a database;
statistical evaluation of data in computer databases. Civil drone piloting services; logistics services relating
to transport; logistics services consisting in the
transport, packaging and storage of goods. Entertainment; sporting and cultural activities;
presentation of live entertainment events; film, music,
sport, video and theater entertainment services; production
of live entertainment; digital video, audio and multimedia
entertainment publishing services; recording studio and
film studio services for the production of multimedia
presentations. Technological services as well as research and design
services relating thereto; design and development of
software for logistics; design and development of computer
software for entertainment; development of programs for data
processing; development of data processing systems;
digitization [scanning] of sounds and images; consultant
services in the field of cloud computing networks and
applications; temporary provision of non-downloadable
software applications accessible via a website; provision
of temporary use of on-line non-downloadable operating
software for accessing and using a cloud computer network;
provision of temporary use of online non-downloadable
software for importing and managing data; cloud computing;
computer programming services for data storage; data
encoding services; data conversion services; design and
development of navigation systems and route planning
software; design and development of systems for data input,
extraction, processing, display and storage; programming of
data calculation and evaluation software; testing, analysis
and evaluation of products and services of others with a
view to their certification; quality control regarding goods
and services; scanning of images [conversion from physical
to electronic media].
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
35 - Publicité; Affaires commerciales
39 - Services de transport, emballage et entreposage; organisation de voyages
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
(1) Logiciels pour le contrôle de drones; logiciels informatiques pour la logistique; logiciels informatiques pour l'automatisation des entrepôts; logiciels informatiques pour les processus logistiques automatisés et les automatisations des entrepôts; logiciels informatiques pour la numérisation dans le domaine de la gestion des entrepôts; logiciels informatiques pour l'industrie du divertissement; capteurs de position; appareils photo dotés de capteurs d'images linéaires; capteurs optiques; appareils de traitement de données; programmes de traitement de données; lecteurs (équipements de traitement de données); encodeurs magnétiques; appareils de traitement de données et ordinateurs; scanners (équipements de traitement de données).
(2) Appareils de locomotion par terre, par air ou par eau; drones caméras; drones de livraison; drones civils. (1) Services de traitement de données; services de gestion électronique de stocks; services de contrôle informatisé de stocks; services informatisés de préparation d'inventaires; saisie et traitement d'informations, en particulier compilation et systématisation d'informations dans des bases de données informatiques; recueil, systématisation et enregistrement de données dans une base de données; évaluation statistique de données dans des bases de données informatiques; rien de ce qui précède n'étant en lien avec la publicité, le marketing, la valorisation de marques, la promotion de marques, la promotion de produits et de services, la publicité contextuelle et le marketing contextuel, ou l'analyse de données s'y rapportant.
(2) Services de pilotage de drones civils; services de logistique en matière de transport; services logistiques consistant en des services de transport, d'emballage et d'entreposage de marchandises.
(3) Divertissement; activités sportives et culturelles; présentation de manifestations de divertissement en direct; services de divertissement cinématographique, musical, sportif, vidéo et théâtral; production de divertissement en direct; services de publication de divertissement multimédia, audio et vidéo numérique; services de studios d'enregistrement et studios de cinéma pour la production de présentations multimédias.
(4) Services technologiques ainsi que services de recherche et de conception y relatifs; services de conception et développement de logiciels pour la logistique; conception et développement de logiciels informatiques pour le divertissement; développement de programmes de traitement de données; développement de systèmes de traitement de données; numérisation par balayage électronique de sons et d'images; services de conseillers dans le domaine des applications et des réseaux d'informatique en nuage; mise à disposition temporaire d'applications logicielles non téléchargeables accessibles par le biais d'un site Web; mise à disposition temporaire en ligne de logiciels d'exploitation non téléchargeables permettant l'accès à un réseau informatique en nuage ainsi que son utilisation; mise à disposition, pour utilisation temporaire, de logiciels en ligne non téléchargeables pour l'importation et la gestion de données; informatique en nuage; services de programmation informatique pour le stockage de données; services de codage de données; services de conversion de données; conception et développement de systèmes de navigation et logiciels de planification d'itinéraires; conception et développement de systèmes pour la saisie, l'extraction, le traitement, l'affichage et le stockage de données; programmation de logiciels pour l'évaluation et le calcul de données; services d'essai, d'analyse et d'évaluation de produits et services de tiers en vue de leur certification; contrôle de la qualité de produits et services; numérisation d'images par balayage; rien de ce qui précède n'étant en lien avec la publicité, le marketing, la valorisation de marques, la promotion de marques, la promotion de produits et de services, la publicité contextuelle et le marketing contextuel, ou l'analyse de données s'y rapportant.
38.
Methods and systems for estimating the orientation of an object
The system receives position information in both an internal coordinate frame and an external coordinate frame. The system uses a comparison of position information in these frames to determine orientation information. The system determines one or more orientation hypotheses, and analyzes the position information based on these hypotheses. The system may include on-board accelerometers, gyroscopes, or both that provide the measurements in the internal coordinate frame. These measurements may be integrated or otherwise processed to determine position, velocity, or both. Measurements in the external frame are provided by GPS sensors or other positioning systems. Position information is transformed to a common coordinate frame, and an error metric is determined. Based on the error metric, the system estimates a likelihood metric for each hypothesis, and determines a resulting hypothesis based on the maximum likelihood or a combination of likelihoods.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01C 21/16 - Navigation; Instruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigant; Navigation à l'estime en intégrant l'accélération ou la vitesse, c. à d. navigation par inertie
G01C 21/18 - Plates-formes stabilisées, p.ex. par un gyroscope
G01C 22/00 - Mesure de la distance parcourue sur le sol par des véhicules, des personnes, des animaux ou autres corps solides en mouvement, p.ex. en utilisant des odomètres ou en utilisant des podomètres
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
39.
Distributed localization systems and methods and self-localizing apparatus
A transceiver network comprises first, second, and third transceivers that are configured to transmit signals that are spread over a bandwidth that exceeds the lesser of 125 MHz and 5% of an arithmetic center frequency of the signals. An additional transceiver with at least a partially unknown relative position can be added to the transceiver network. The additional transceiver receives the signals from the first, second, and third transceivers and timestamps the receptions. A position calibration unit is configured to compute the position of the additional transceiver relative to the first, second, and third transceivers based on the reception timestamps and known relative locations of the first, second, and third transceivers. The additional transceiver can be configured to transmit (e.g., in a transmission time slot) an additional signal as part of the transceiver network.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
H04B 1/7163 - Techniques d'étalement de spectre utilisant un signal radio impulsionnel
According to the present invention there is provide a method of creating a landmark map comprising the steps of: capturing a plurality of frame using a camera, each frame comprising an image; assigning an image number which denotes the order in which each frame was taken; extracting features from all the images in the captured frames; assigning a distinct identifier to each respective feature which was extracted from the image belonging to the frame which was first captured; for each image belonging to the respective frames which was captured after the first frame was captured, carrying out the following steps:(i)computing a distance between, the location of each respective extracted feature in that image, and the location of each respective feature extracted from image belonging to a previously captured frame; and (ii) determining if said computed distance is less than, a predefined threshold distance; and if the computed distance is not less than said predefined threshold distance then assign that extracted feature the same identifier as is assigned to the extracted feature in the image belonging to the previously captured frame; if the computed distance is greater than the predefined threshold distance, then assign a new identifier to the extracted feature; providing a list of features which comprises image numbers which denotes each of the captured frames; for each respective image number the identifiers which denote the features which were extracted from the image belonging to that frame; and for each identifier the coordinates which represent the location of the extracted feature in that image; carrying out structure-from-motion followed by repeated landmark representation merging and bundle adjustment, using the list of features, so as to create a landmark map. There is further provided an assembly having a processor which is configured to carry out said method of creating a landmark map.
According to the present invention there is provide a method a method for matching features in an image with landmark representations in a landmark map, the method comprising: providing at least one image; extracting from the image one or more features; providing a landmark map comprising a list of landmark representations, wherein each landmark representation is a representation of a respective physical landmark; creating a plurality of policies, each policy comprising at least one matching decision of the feature and the landmark representation, each matching decision having a stage cost; assigning a policy cost to each of the policies, wherein the policy cost is a function of the stage costs of the matching decisions the policy is comprised of; selecting from the collection of the policies the policy with the desired policy cost.There is further provided an assembly having a processor which is configured to carry out said method.
A flying machine storage container is provided that comprises multiple charging stations and a clamping mechanism. The clamping mechanism is configured to secure flying machines in the charging stations and securely close charging circuits between the storage container and the flying machines. A system for launching flying machines is also provided. The system comprises two regions and a transition region between the two regions. The two regions each constrain the positioning of a flying machine and the transition region enables a flying machine to move from the first region to the second region to reach an exit. A flying machine having sufficient performance capabilities will be able to successfully launch. Centralized and decentralized communication architectures are also provided for communicating data between a central control system, multiple storage containers, and multiple stored flying machines stored at each of the storage containers.
The invention relates to a method and device for estimating angle information (50) of a received ultra-wideband wireless signal. Upon reception of a wireless signal emitted from a transmitting device (20) with known sounding sequence, the receiving device (10) estimates the channel impulse response (CIR), selects a portion of the channel impulse response (CIR), and estimates angle information (50) given the angle-dependent antenna transfer functions of either the transmitting device (20), the receiving device (10), or both. For this, the selected portion of the channel impulse response of the signal is fed into a neural network (73) which outputs an angle information probability distribution for the ultra- wideband wireless signal (50).
A system comprising, a plurality of unmanned aerial vehicles and a single controller for controlling said plurality of unmanned aerial vehicles, wherein the single controller is configured such that it can broadcast a command to all of the plurality of unmanned aerial vehicles so that each of the plurality of unmanned aerial vehicles receive the same command; and wherein each of the unmanned aerial vehicles comprise a memory which stores a plurality of predefined flight paths each of which is assigned to a respective command; and wherein each of the unmanned aerial vehicles comprise a processor which can, (i) receive a command which has been broadcasted by the single controller to said plurality of unmanned aerial vehicles, (ii) retrieve from the memory of that aerial vehicle the flight path which is assigned in the memory to that command, and (iii) operate the aerial vehicle to follow the retrieved flight path. There is further provided a corresponding method of controlling a plurality of unmanned aerial vehicles.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
According to the present invention there is provided an aerial vehicle that is operable to fly, the aerial vehicle having at least a first and second subsystem that are operably connected, wherein the first subsystem comprises a first flight module, first one or more effectors that are selectively operable to generate a first force sufficient to cause the aerial vehicle to fly; and the second subsystem comprises a second flight module, second one or more effectors that are selectively operable to generate a second force sufficient to cause the aerial vehicle to fly; such that the first or second subsystem can be selectively used to fly the aerial vehicle not relying on the one or more effectors of the other subsystem. There is further provided a corresponding method for controlling an aerial vehicle.
B64D 31/06 - Dispositifs amorçant la mise en œuvre actionnés automatiquement
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01S 1/04 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques - Détails
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
A flying machine storage container is provided that comprises multiple charging stations and a clamping mechanism. The clamping mechanism is configured to secure flying machines in the charging stations and securely close charging circuits between the storage container and the flying machines. A system for launching flying machines is also provided. The system comprises two regions and a transition region between the two regions. The two regions each constrain the positioning of a flying machine and the transition region enables a flying machine to move from the first region to the second region to reach an exit. A flying machine having sufficient performance capabilities will be able to successfully launch. Centralized and decentralized communication architectures are also provided for communicating data between a central control system, multiple storage containers, and multiple stored flying machines stored at each of the storage containers.
An aerial vehicle and a method of taking a measurement using a sensor mounted on an aerial vehicle. The aerial vehicle has one or more propellers and one car more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly. A sensor is mounted on the aerial vehicle. The method includes operating the one or more motors to drive the one or more propellers to cause the vehicle to fly. At a first time instant, the one or more motors are slowed down or turned off. When the one or more motors are slowed down or turned off, a measurement is taken using the sensor; at a second time instant, which is after the measurement has been taken using sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/04 - Commande de l'altitude ou de la profondeur
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
B64C 11/00 - Hélices, p.ex. du type caréné; Caractéristiques communes aux hélices et aux rotors pour giravions
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
H04W 4/30 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques
H04W 4/021 - Services concernant des domaines particuliers, p.ex. services de points d’intérêt, services sur place ou géorepères
H04W 4/029 - Services de gestion ou de suivi basés sur la localisation
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01S 1/04 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques - Détails
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
52.
Distributed localization systems and methods and self-localizing apparatus
A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
H04B 1/7163 - Techniques d'étalement de spectre utilisant un signal radio impulsionnel
Flying machines may be docked during charging or other processes. A tray having multiple docking areas is configured to accommodate flying machines for transport and docking. The docking areas may, but need not, include passageways which may accommodate charging stations. For example, a storage enclosure may be configured to house one or more trays, configured to interface to corresponding charging surfaces. Protective layers and vibration dampening features may be used to soften impacts during storage and transport. A charging station may include electrical terminals, recesses, and locating features for docking a flying machine.
B60L 53/35 - Moyens pour l’ajustement automatique ou assisté de la position relative des dispositifs de charge et des véhicules
B60L 53/18 - Câbles spécialement adaptés pour recharger des véhicules électriques
H02J 7/00 - Circuits pour la charge ou la dépolarisation des batteries ou pour alimenter des charges par des batteries
B60L 53/30 - PROPULSION DES VÉHICULES À TRACTION ÉLECTRIQUE; FOURNITURE DE L'ÉNERGIE ÉLECTRIQUE À L'ÉQUIPEMENT AUXILIAIRE DES VÉHICULES À TRACTION ÉLECTRIQUE; SYSTÈMES DE FREINS ÉLECTRODYNAMIQUES POUR VÉHICULES, EN GÉNÉRAL; SUSPENSION OU LÉVITATION MAGNÉTIQUES POUR VÉHICULES; CONTRÔLE DES PARAMÈTRES DE FONCTIONNEMENT DES VÉHICULES À TRACTION ÉLECTRIQUE; DISPOSITIFS ÉLECTRIQUES DE SÉCURITÉ POUR VÉHICULES À TRACTION ÉLECTRIQUE Échange d'éléments d’emmagasinage d'énergie dans les véhicules électriques - Détails de construction des stations de charge
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
54.
Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
H04W 4/30 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques
H04W 4/021 - Services concernant des domaines particuliers, p.ex. services de points d’intérêt, services sur place ou géorepères
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
G01S 1/04 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques - Détails
H04W 4/04 - dans un environnement spécialisé, p.ex. des immeubles ou des véhicules
55.
Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/04 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques - Détails
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
A system comprising, a plurality of unmanned aerial vehicles and a single controller for controlling said plurality of unmanned aerial vehicles, wherein the single controller is configured such that it can broadcast a command to all of the plurality of unmanned aerial vehicles so that each of the plurality of unmanned aerial vehicles receive the same command; and wherein each of the unmanned aerial vehicles comprise a memory which stores a plurality of predefined flight paths each of which is assigned to a respective command; and wherein each of the unmanned aerial vehicles comprise a processor which can, (i) receive a command which has been broadcasted by the single controller to said plurality of unmanned aerial vehicles, (ii) retrieve from the memory of that aerial vehicle the flight path which is assigned in the memory to that command, and (iii) operate the aerial vehicle to follow the retrieved flight path. There is further provided a corresponding method of controlling a plurality of unmanned aerial vehicles.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
According to the present invention there is provided an aerial vehicle that is operable to fly, the aerial vehicle having at least a first and second subsystem that are operably connected, wherein the first subsystem comprises a first flight module, first one or more effectors that are selectively operable to generate a first force sufficient to cause the aerial vehicle to fly; and the second subsystem comprises a second flight module, second one or more effectors that are selectively operable to generate a second force sufficient to cause the aerial vehicle to fly; such that the first or second subsystem can be selectively used to fly the aerial vehicle not relying on the one or more effectors of the other subsystem. There is further provided a corresponding method for controlling an aerial vehicle.
B64D 31/06 - Dispositifs amorçant la mise en œuvre actionnés automatiquement
B64C 39/02 - Aéronefs non prévus ailleurs caractérisés par un emploi spécial
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
B64D 45/00 - Indicateurs ou dispositifs de protection d'aéronefs, non prévus ailleurs
58.
Distributed localization systems and methods and self-localizing apparatus
A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
H04B 1/7163 - Techniques d'étalement de spectre utilisant un signal radio impulsionnel
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
28 - Jeux, jouets, articles de sport
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
Software; interactive software; computer programs
(downloadable software); interactive multimedia computer
programs; interactive multimedia software for playing
games; computer hardware; downloadable video and audio
files; automatic steering devices for vehicles and aerial
vehicles; tracking apparatus and detection apparatus for
Global Navigation Satellite Systems (GNSS), for GPS and for
closed-space-positioning systems (IPS, Indoor Positioning
System); detection apparatus for vehicles and aerial
vehicles; receivers for Global Navigation Satellite Systems
(GNSS), for GPS and for closed-space-positioning systems
(IPS, Indoor Positioning System). Vehicles; electric vehicles; remote-controlled vehicles
other than toys; civilian drones; air vehicles; apparatus
for locomotion by land, air or water; components and
accessories for the aforesaid goods included in this class. Games, toys; remote-controlled vehicles and air vehicles
(toys); robots for entertainment; drones (toys);
components and accessories for the aforesaid goods included
in this class. Training; education; entertainment; provision of
interactive entertainment; provision of on-line information
in the field of computer games for entertainment purposes;
presentation of live entertainment events; services in the
fields of entertainment, education and training, including
services provided online from computers, the Internet or
other electronic networks; hosting of entertainment,
cultural and sports events live, educational events and
entertainment and cultural activities; production of live
entertainment; game services provided online from a computer
network for entertainment and further education purposes;
organization, production and presentation of events for
educational, cultural or entertainment purposes;
organization and holding of gala evenings and other social
events, namely cultural and/or sporting events or
entertainment events and competitions (including
distribution of prizes); organization and presentation of
shows, competitions, games, concerts and entertainment
events; organization of fashion shows for entertainment
purposes; organization of entertainment shows; provision
of movie, television and music video entertainment via an
interactive web site; provision of multimedia entertainment
programs by television, broadband, wireless and on-line
services; providing entertainment services in the form of
live musical performances or recorded music.
60.
Invisible track for an interactive mobile robot system
An interactive mobile robot system and a method for creating an invisible track for a mobile robot. The system and method allow the creation of invisible tracks by guiding objects. They also allow the use of such invisible tracks for the semi-autonomous or autonomous control of toys, including model cars and model trains, or of mobile robots to move them along a real-world path. The system includes a mobile robot, receiver circuitry to receive one or more position signals, and processing circuitry. The processing circuitry is configured to determine position information associated with the mobile robot based on the one or more position signals. The processing circuitry is further configured to create an invisible track based on the position information, to determine a current position of the mobile robot, and to generate control signals based on the current position of the mobile robot and the invisible track.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
A63H 30/04 - Agencements électriques par transmission sans fil
G01S 1/00 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
28 - Jeux, jouets, articles de sport
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
Software; interactive software; computer programs
(downloadable software); interactive multimedia computer
programs; interactive multimedia software for playing
games; computer hardware; downloadable video and audio
files; automatic steering devices for vehicles; marking
devices for vehicles and air vehicles; tracking and
location devices as well as receivers for GNSS (Global
Navigation Satellite Systems), for GPS and for IPS (Indoor
Positioning Systems). Vehicles; electric vehicles; remote-controlled vehicles
other than toys; civilian drones; air vehicles; apparatus
for locomotion by land, air or water; parts and accessories
for the aforesaid goods included in this class. Games, toys; remote-controlled vehicles and air vehicles
(toys); robots for entertainment; drones (toys); parts and
accessories for the aforesaid goods included in this class. Training; education; entertainment; provision of
interactive entertainment; provision of on-line information
in the field of computer games for entertainment purposes;
presentation of live entertainment events; services in the
field of entertainment, education and training, including
such services provided online from a computer, the Internet
or other electronic networks; hosting of entertainment,
cultural and sports events live, educational events and
entertainment and cultural activities; production of live
entertainment; game services provided on-line from a
computer network for entertainment and further education
purposes; organization, production and presentation of
events for educational, cultural or entertainment purposes;
organization and conducting of gala evenings and other
receptions (events), namely cultural and sporting events or
entertainment events as well as competitions (including
distribution of prizes); organization and presentation of
shows, competitions, games, concerts and entertainment
events; organization of fashion shows for entertainment
purposes; organization of entertainment shows; provision of
movie, television and music video entertainment via an
interactive web site; provision of multimedia entertainment
programs by television, broadband, wireless and on-line
services; providing entertainment services in the form of
live musical performances or recorded music.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
Produits et services
Tracking and location devices and receivers for global positioning systems (GPS); tracking and location devices and receivers for global navigation satellite systems (GNSS); tracking and location devices and receivers for indoor positioning systems (IPS); GPS, GNSS, and IPS vehicle tracking devices consisting of radio modules, computer software and hardware, sensors, transmitters, receivers and positioning receivers for vehicle tracking, monitoring, and positioning; GPS, GNSS, and IPS object and personnel tracking devices consisting of radio modules, computer software and hardware, sensors, transmitters, receivers and positioning receivers for tracking, monitoring, and positioning of objects and personnel Automatic guided vehicles; drones
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
28 - Jeux, jouets, articles de sport
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
Software for controlling and tracking drones; downloadable video and audio files relating to drones; tracking and location devices as well as receivers for GNSS (Global Navigation Satellite Systems), for GPS and for IPS (Indoor Positioning Systems), namely, vehicle tracking devices consisting of radio modules, computer software and hardware, sensors, transmitters, receivers and positioning receivers for vehicle tracking, monitoring, and positioning; tracking and location devices as well as receivers for GNSS (Global Navigation Satellite Systems), for GPS and for IPS (Indoor Positioning Systems), namely, object and personnel tracking devices consisting of radio modules, computer software and hardware, sensors, transmitters, receivers and positioning receivers for vehicle tracking, monitoring, and positioning Unmanned Aerial Vehicles (UAVs); drones; parts and accessories for the aforesaid goods included in this class, namely, structural parts for Unmanned Aerial Vehicles (UAVs) and drones and electrical, storage, and decorative parts and accessories for Unmanned Aerial Vehicles (UAVs) and drones, namely, replacement parts for Unmanned Aerial Vehicles (UAVs) and drones Toy drones; parts and accessories for the aforesaid goods included in this class, namely, spare parts in the nature of structural and replacement parts for toy drones, toy drone payloads, and toy drone costumes Training services in the field of drone shows, drone safety, drone operation, drone payload design, drone lighting, drone system installation, drone system calibration and drone system transport; educational services, namely, providing classes, seminars, workshops, tests, quizzes, and online training in the field of drone shows, drone safety, drone operation, drone payload design, drone lighting, drone system installation, drone system calibration and drone system transport; entertainment services, namely, drone shows; provision of interactive entertainment, namely, live drone shows and interactive drone shows; organization, production and presentation of drone events for educational, cultural or entertainment purposes, namely, drone shows; entertainment services, namely, provision of multimedia entertainment programs featuring show drones by television, broadband, wireless and on-line services; providing entertainment services in the form of live musical performances and recorded music, namely, music production featuring synchronization of music with drone shows, music production consulting, and music production services related to drone shows
64.
Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
H04W 4/04 - dans un environnement spécialisé, p.ex. des immeubles ou des véhicules
H04W 4/02 - Services utilisant des informations de localisation
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.
H04W 24/00 - Dispositions de supervision, de contrôle ou de test
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
H04B 1/7163 - Techniques d'étalement de spectre utilisant un signal radio impulsionnel
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
66.
Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
H04W 4/06 - Répartition sélective de services de diffusion, p.ex. service de diffusion/multidiffusion multimédia; Services à des groupes d’utilisateurs; Services d’appel sélectif unidirectionnel
H04W 4/04 - dans un environnement spécialisé, p.ex. des immeubles ou des véhicules
H04W 4/021 - Services concernant des domaines particuliers, p.ex. services de points d’intérêt, services sur place ou géorepères
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.
G01S 5/02 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques
H04W 4/02 - Services utilisant des informations de localisation
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
G01S 1/02 - Radiophares ou systèmes de balisage émettant des signaux ayant une ou des caractéristiques pouvant être détectées par des récepteurs non directionnels et définissant des directions, situations ou lignes de position déterminées par rapport aux émetteu; Récepteurs travaillant avec ces systèmes utilisant les ondes radioélectriques
G01S 1/20 - Systèmes pour déterminer une direction ou une ligne de position en comparant les temps de transit de signaux synchronisés provenant d'antennes non directionnelles ou de systèmes d'antennes séparés, c. à d. systèmes à différence de parcours
G01S 5/14 - Localisation par coordination de plusieurs déterminations de direction ou de ligne de position; Localisation par coordination de plusieurs déterminations de distance utilisant les ondes radioélectriques déterminant des distances absolues à partir de plusieurs points espacés d'emplacement connu
H04B 1/7163 - Techniques d'étalement de spectre utilisant un signal radio impulsionnel
G05D 1/10 - Commande de la position ou du cap dans les trois dimensions simultanément
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
28 - Jeux, jouets, articles de sport
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
Scientific, nautical, surveying, photographic,
cinematographic, optical, weighing, measuring, signaling,
checking (supervision), life-saving and teaching apparatus
and instruments; apparatus and instruments for conducting,
switching, transforming, accumulating, regulating or
controlling electricity; apparatus for recording,
transmission or reproduction of sound or images; magnetic
recording media, sound recording disks; compact disks, DVDs
and other digital recording media; mechanisms for
coin-operated apparatus; cash registers, calculating
machines, data processing equipment, computers; software;
interactive software; computer programs (downloadable
software); interactive multimedia computer programs;
interactive multimedia software for playing games;
downloadable video and audio files; downloadable electronic
publications; extinguishers; laboratory robots; simulators
for the steering and control of vehicles; automatic steering
apparatus for vehicles; devices for tracking by means of
global positioning systems; personnel tracking devices;
vehicle tracking devices; Global Positioning System
receivers. Vehicles; electric vehicles; automatically controlled
vehicles; remote-controlled vehicles other than toys;
drones; driverless transport robots; handling carts;
fork-lift trucks; apparatus for locomotion by land, air or
water. Games, toys; radio-controlled vehicles (toys); robots
(toys); gymnastic and sporting articles not included in
other classes; decorations for Christmas trees. Education; training; entertainment; sporting and cultural
activities; provision of digital music (not downloadable)
on the Internet; provision of non-downloadable films and
television programs via a video-on-demand service;
provision of multimedia entertainment programs by
television, broadband, wireless and on-line services;
recording studio and film studio services for the production
of multimedia presentations; production and directing of
radio and music events in the form of live radio and
television programs; provision of non-downloadable online
electronic publications; interactive entertainment services;
live entertainment; organization, presentation and
production of shows and live performances.
69.
Flexibly supported movable platform having an actuator to move a display
A movable platform, comprising a structural element, a display structured and arranged to be coupled to the structural element, a first flexible support with a first end structured and arranged to be coupled to the structural element and a second end structured and arranged to be coupled to a support structure. The platform further comprises a sensor structured and arranged to provide data representative of movement of the display and at least one actuator, wherein the at least one actuator is structured and arranged to move the display based on at least one control signal. The platform further comprises a control module structured and arranged to send the at least one control signal to the at least one actuator, and operable to determine the at least one control signal based on the data representative of movement of the display and a reference signal.
G05B 15/02 - Systèmes commandés par un calculateur électriques
A63G 31/02 - Installations pour divertissements publics à substructures mobiles
F16M 11/04 - Moyens pour la fixation des appareils; Moyens permettant le réglage des appareils par rapport au banc
F16M 13/02 - Autres supports ou appuis pour positionner les appareils ou les objets; Moyens pour maintenir en position les appareils ou objets tenus à la main pour être portés par un autre objet ou lui être fixé, p.ex. à un arbre, une grille, un châssis de fenêtre, une bicyclette
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
28 - Jeux, jouets, articles de sport
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
Global positioning systems (GPS); satellite-aided navigation systems, namely, global navigation satellite systems (GNSS) and computers, computer software, transmitters, receivers, tracking devices, and computer network interface devices specially adapted therefor; satellite-aided navigation systems, namely, global navigation satellite systems (GNSS) consisting of computers, computer software, transmitters, receivers, tracking devices, and computer network interface devices; radio-aided and sensor-aided indoor positioning systems (IPS) consisting of computers, computer software, transmitters, receivers, tracking devices, and computer network interfaces; the foregoing also for use in the operation of drones, but none of the foregoing for use in the field of magic Automatic guided vehicles; remotely controlled land vehicles other than toys; drones; none of the foregoing for use in the field of magic Radio-controlled toy vehicles; toy robots; none of the foregoing for use in the field of magic Education, namely, training seminars in the field of the operation and monitoring of drones and other remotely controlled vehicles; entertainment services, namely, choreography services for others; entertainment services in the nature of live musical and dance performances; presentation of live show performances; none of the foregoing relating to the field of magic
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
28 - Jeux, jouets, articles de sport
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
Scientific, nautical, surveying, photographic,
cinematographic, optical, weighing, measuring, signaling,
checking (supervision), life-saving and teaching apparatus
and instruments; apparatus and instruments for conducting,
switching, transforming, accumulating, regulating or
controlling electricity; apparatus for recording,
transmission or reproduction of sound or images; magnetic
recording media, sound recording disks; compact disks, DVDs
and other digital recording media; mechanisms for
coin-operated apparatus; cash registers, calculating
machines, data processing equipment, computers; software;
interactive software; computer programs (downloadable
software); interactive multimedia computer programs;
interactive multimedia software for playing games;
downloadable video and audio files; downloadable electronic
publications; extinguishers; laboratory robots; simulators
for the steering and control of vehicles; automatic steering
apparatus for vehicles; devices for tracking by means of
global positioning systems; personnel tracking devices;
vehicle tracking devices; Global Positioning System
receivers. Vehicles; electric vehicles; automatically controlled
vehicles; remote control vehicles, other than toys; drones;
driverless transport robots; handling carts; lifting cars
[lift cars]; apparatus for locomotion by land, air or water. Games, toys; radio-controlled vehicles (toys); robots
(toys); gymnastic and sporting articles not included in
other classes; decorations for Christmas trees. Education; training; entertainment; sporting and cultural
activities; provision of digital music (not downloadable) on
the Internet; provision of non-downloadable films and
television programs via a video-on-demand service; provision
of multimedia entertainment programs by television,
broadband, wireless and on-line services; recording studio
and film studio services for the production of multimedia
presentations; production and directing of radio and music
events in the form of live radio and television programs;
provision of non-downloadable online electronic
publications; interactive entertainment services; live
entertainment; organization, presentation and production of
shows and live performances.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
[ Scientific, nautical, surveying, photographic, cinematographic, optical, measuring, signaling, and checking and supervision apparatus and instruments, namely, flying cameras; apparatus and instruments for conducting, switching, transforming, accumulating, regulating or controlling electricity; apparatus for recording, transmission or reproduction of images, namely, flying cameras; calculating machines, data processing equipment, computers; software for the manual, semi-autonomous/interactive, or autonomous operation of vehicles; interactive software for the manual, semi-autonomous/interactive, or autonomous operation of vehicles; downloadable computer programs for the manual, semi-autonomous/interactive, or autonomous operation of vehicles; interactive multimedia computer programs for the manual, semiautonomous/ interactive, or autonomous operation of vehicles; simulators for the steering and control of vehicles; automatic steering apparatus comprising electrical actuators and sensors for motion for vehicles, comprising flying vehicles, flying robots, remote piloted aircraft systems which are commonly abbreviated as RPAS, unmanned aerial vehicles/systems which are commonly abbreviated as UAVs/UASs, remotely operated vehicles, partially or fully autonomous vehicles, toy vehicles, modular or distributed vehicles/robot kits, wingsuits; devices for tracking by means of global positioning systems; personnel tracking devices, namely, wireless tracking devices, wearable tracking devices using sensor fusion; vehicle tracking devices, namely, wireless tracking devices, tracking devices using sensor fusion; global positioning system receivers ] [ Vehicles, namely, flying vehicles in the nature of drones, small airplanes, helicopters, or multicopters, flying robots in the nature of drones, remote piloted aircraft systems comprising a drone, unmanned aerial vehicles, unmanned aerial systems comprising an unmanned aerial vehicle, flying vehicles in the nature of drones integrated with or equipped with photographic or cinematographic instruments; electric vehicles, namely, flying vehicles in the nature of drones, small airplanes, helicopters, or multicopters, flying robots in the nature of drones, remote piloted aircraft systems comprising a drones, unmanned aerial vehicles, unmanned aerial systems comprising an unmanned aerial vehicle; automatically controlled vehicles, namely, flying vehicles in the nature of drones, small airplanes, helicopters, or multicopters, flying robots in the nature of drones, remote piloted aircraft systems comprising a drone, unmanned aerial vehicles, unmanned aerial systems comprising an unmanned aerial vehicle; remote control vehicles, other than toys, namely, flying vehicles in the nature of drones, small airplanes, helicopters, or multicopters, flying robots in the nature of drones, remote piloted aircraft systems comprising a drone, unmanned aerial vehicles, unmanned aerial systems comprising an unmanned aerial vehicle; drones; driverless transport robots, namely, robotic transport vehicles, flying vehicles in the nature of drones, small airplanes, helicopters, or multicopters, flying robots in the nature of drones, remote piloted aircraft systems comprising a drone, unmanned aerial vehicles, unmanned aerial systems comprising an unmanned aerial vehicle; handling carts; lifting cars, namely, partially or fully autonomous vehicles that can be used as platforms or movable stages; apparatus for locomotion by land, air or water, namely, partially or fully autonomous vehicles that can be used as platforms or movable stages ] Entertainment in the nature of organizing large-scale live exhibitions for cultural or entertainment purposes, [ theme park attractions in the nature of amusement park rides, parades, installations in the nature of art exhibitions, rental of show and stage scenery, movie theaters, organizing opening or closing ceremonies for cultural or entertainment purposes, ] live music concerts; [ sporting or cultural activities in the nature of organizing large-scale live exhibitions for cultural or entertainment purposes, theme park attractions in the nature of amusement park rides, parades, installations in the nature of art exhibitions, rental of show and stage scenery, movie theaters, organizing opening or closing ceremonies for cultural or entertainment purposes, live music concerts; ] interactive entertainment services, namely, [ amusement park services or ] live music concert services [ or live theater show services or live stage show services, ] featuring interaction with flying vehicles, [ flying robots, ] remote piloted aircraft systems, unmanned aerial vehicles/systems, remotely operated vehicles [, partially or fully autonomous vehicles, toy vehicles, modular or distributed vehicles/robot kits, wingsuits; live entertainment, namely, organizing large-scale live exhibitions for cultural or entertainment purposes, theme park attractions in the nature of amusement park shows, parades, installations in the nature of art exhibitions, rental of show and stage scenery, live theater performances, organizing opening or closing ceremonies for cultural or entertainment purposes, live music concerts ] ; organization [, presentation or production ] of live shows or live performances for entertainment or cultural purposes related to flying vehicles, [ flying robots, ] remote piloted aircraft systems, unmanned aerial vehicles/systems, remotely operated vehicles [, partially or fully autonomous vehicles, toy vehicles, modular or distributed vehicles/robot kits, wingsuits ]
