Patent ID: 9488981
Filing Date: 2016-11-08
CPC Classification: B64C,G05D,G08G,H04L,H04W

Claim Text:
1. An apparatus comprising: a set of computer processors comprised of one or more computer processors; and a set of computer memories comprised of one or more computer memories; wherein the set of computer processors are programmed by a computer program stored in the set of computer memories to control a flight of a first unmanned aerial vehicle, and a flight of a plurality of second unmanned aerial vehicles; wherein the flight of the first unmanned aerial vehicle and the flight of the plurality of second unmanned aerial vehicles are controlled so that each of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles is kept at least a first distance away from any other of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles; wherein the flight of the first unmanned aerial vehicle and the flight of the plurality of second unmanned aerial vehicles are controlled so that each of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles is kept less than a second distance away from any other of the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles; wherein the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles together have a group centroid whose location varies with time as the first unmanned aerial vehicle and the plurality of second unmanned aerial vehicles move over time; wherein the group centroid is a geometric center of a collection of points which include a first point associated with the first unmanned aerial vehicle, and a plurality of further points, one associated with each of the plurality of second unmanned aerial vehicles; and further wherein the set of computer processors are programmed by the computer program to determine a first location of the group centroid at a first instant in time; and to determine if the first location of the group centroid is within a tolerance distance of a first predetermined location.