Patent ID: 9599994
Date: 2017-03-21
CPC Classifications: B64C,B64D,G05D,G08G

Claim:
1. A method for ensuring collisionless flight of three or more unmanned aerial vehicles over an area, wherein the method comprises the steps of: constructing a circulant digraph representing a portion of the area, wherein the circulant digraph comprises a number of vertices such that the number of vertices is greater than the number of unmanned aerial vehicles and the number of vertices is divisible by the number of unmanned aerial vehicles and wherein each vertex represents two waypoints at differing altitudes, a first jump size of one, a second jump size of one less than the number of unmanned aerial vehicles, and an independent directed cycle for each of the three or more unmanned aerial vehicles; and assigning each of the three or more unmanned aerial vehicles a flight path corresponding to an independent directed cycle of the circulant digraph.