Patent ID: 8116921

Claim:
A vehicle control system for causing a follower vehicle to follow a leader, comprising: a tether system mounted to the follower vehicle, said tether system comprising: a tether having an end adapted to be attached to the leader; a length sensor operatively associated with said tether, said length sensor sensing a length of said tether extending between the follower vehicle and the leader; and an angle sensor operatively associated with said tether, said angle sensor sensing an angle between said tether and the follower vehicle; a path tracking system operatively associated with said tether system, said path tracking system determining a path traveled by the leader; a path control system operatively associated with said path tracking system and the follower vehicle, said path control system causing the follower vehicle to follow the path traveled by the leader; a spacing control system operatively associated with said path tracking system and the follower vehicle, said spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader; and a dead reckoning system operatively associated with the follower vehicle, said path tracking system, and said path control system, said dead reckoning system producing position and heading estimates of the follower vehicle.