Patent ID: 8380362

Claim:
A remotely operable vehicle collaboration system architecture, comprising: a first remotely operable vehicle, the first remotely operable vehicle comprising: a first vehicle estimated position module to estimate a position of the first vehicle; a first vehicle acquired position module to acquire a position of the first vehicle; a first vehicle communication module to communicate a first vehicle position data packet when a difference between the estimated position of the first vehicle and the actual position of the first vehicle is greater than a first position deviation threshold; a first vehicle position update module to update the estimated position of the first vehicle based on the first vehicle position data packet; a first vehicle command module to receive one or more operational commands; and a first vehicle control module to control a trajectory of the first vehicle; and a second remotely operable vehicle, the second remotely operable vehicle comprising: a second vehicle estimated position module to estimate a position of the first vehicle and to further estimate a position of the second vehicle; a second vehicle acquired position module to acquire a position of the second vehicle; a second vehicle communication module to communicate a second vehicle position data packet to at least the first vehicle when a difference between the estimated position of the second vehicle and the actual position of the second vehicle is greater than a second position deviation threshold; a second vehicle position update module to update the estimated position of the second vehicle based on the second vehicle position data packet when the estimated position of the second vehicle and the actual position of the second vehicle is greater than the second position deviation threshold, the second vehicle position update module further to update the second vehicle's estimated position of the first vehicle based on a receipt of the first vehicle position data packet; a second vehicle command module to receive one or more operational commands; and a second vehicle control module to control a trajectory of the second vehicle.