Patent ID: 11915599
Assignee: CITY UNIVERSITY OF HONG KONG
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 9:
10. The method of claim 9, wherein the cost function obtained by Eq. (13) is changed to a piece-wise function as follows:, c
      ⁡
      (
      s
      )
     
     =
     
      {
      
       
        
         
          
           λ
           c
          
          ⁢
          
           γ
           ⁡
           (
           s
           )
          
          ⁢
          
           
            ❘
            "\[LeftBracketingBar]"
           
           
            l
            1
           
           
            ❘
            "\[RightBracketingBar]"
           
          
         
        
        
         
          
           γ
           ⁡
           (
           s
           )
          
          ≤
          
           ε
           c
          
         
        
       
       
        
         
          +
          ∞
         
        
        
         
          
           γ
           ⁡
           (
           s
           )
          
          >
          
           ε
           c
          
         
        
       
      
     
    
   
   
    
     (
     17
     )
    
   
  
 

wherein the other costs involved in adjusting climb or descending angle of the autonomous flying robots c(s) traversing from the start vertex to vertex s do not exceed an absolute threshold εc, and
wherein s and parent(s) are considered to be located in two different terminal areas where the autonomous flying robots takes off from and lands to, respectively, in order not to overwhelm the other costs.