Patent ID: 11874656
Assignee: SKYDIO, INC.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 18:
19. An unmanned aerial vehicle (UAV) system, comprising:
one or more processors; and
one or more computer storage media storing instructions, that when executed by the one or more processors, cause the one or more processors to:
receive, from a first control source, one or more first modular commands;
receive, from a second control source, one or more second modular commands associated with enforcing an approved geofence for the UAV;

filter the one or more first and second modular commands to discard a subset of the one or more first and second modular commands from implementation by the UAV, wherein, to filter the one or more first and second modular commands, the one or more processors are configured to execute the instructions to:
receive, from the first control sources, repeated instances of the same modular command;
determine a number of repeated instances that the same modular command has been received; and
discard some of the repeated instances of the same modular command if the number of instances of the repeated modular command exceeds a threshold value;

determine, while the UAV is under control of the first control source, that the UAV has moved outside of the approved geofence;
based on the UAV moving outside of the approved geofence, transfer control of the UAV to the second control source to return the UAV to within the approved geofence; and
based on the UAV returning to within the approved geofence, transfer control of the UAV to the first control source.