An unmanned device for a marine environment comprises a location sensor configured to gather location data corresponding to the unmanned device; at least one propulsion system; a transmitter and memory including computer program code. The computer program code is configured to, when executed, cause the processor to cause the propulsion system to propel the unmanned device in a pattern along the body of water, cause the sonar transducer to emit the one or more sonar beams into the body of water, receive sonar return data corresponding to sonar returns, and generate a sonar image corresponding to the sonar return data. Further, the computer program code is configured to cause the processor to detect an object within the sonar image, assign a score to the object indicating the likelihood that the object is a desired object type, and send an alert to the remote electronics device upon assignment of the score.

A navigation system, a navigation method, or a non-transitory computer-readable storage medium storing a navigation program optimizes a platoon formation based on a traveling resistance that occurs on at least one of the plurality of autonomous traveling devices that are caused to travel in the platoon formation, and changes in future traveling; and navigates each autonomous traveling device to the optimized platoon formation.

A navigation system, a navigation method, or a non-transitory computer-readable storage medium storing a navigation program optimizes a platoon formation based on a traveling resistance that occurs on at least one of the plurality of autonomous traveling devices that are caused to travel in the platoon formation, and changes in future traveling; and navigates each autonomous traveling device to the optimized platoon formation.

Disclosed is a method for obtaining meteorological data by a UAS, the UAS including at least one UAV, a control center and a wireless communication interface. The UAV is equipped with a meteorological data sensor and a flight controller. The method includes the control center sending flight instruction data to the UAV, and performing flight. The UAV collects raw meteorological data and flight data and transmits the collected raw meteorological data and the flight data in real time to the control center, the flight data being collected by any one of a position sensor, a motion sensor, an environment sensor and/or a combination thereof included in the flight controller. The control center calculates meteorological data based on the received raw meteorological data and the flight data and sends return instruction data. The at least one UAV returns to the UAS accordingly.

Disclosed is a method for obtaining meteorological data by a UAS, the UAS including at least one UAV, a control center and a wireless communication interface. The UAV is equipped with a meteorological data sensor and a flight controller. The method includes the control center sending flight instruction data to the UAV, and performing flight. The UAV collects raw meteorological data and flight data and transmits the collected raw meteorological data and the flight data in real time to the control center, the flight data being collected by any one of a position sensor, a motion sensor, an environment sensor and/or a combination thereof included in the flight controller. The control center calculates meteorological data based on the received raw meteorological data and the flight data and sends return instruction data. The at least one UAV returns to the UAS accordingly.

Examples relate to a method, a computer program and an apparatus for determining an action for an automated device based on a state of an environment of the automated device. A method for determining an action for an automated device based on a state of an environment of the automated device. The method comprises obtaining information on environmental measurement results, the measurement results having a limited confidence; estimating information on a state of the environment based on the information on the environmental measurement results, the information on the state of the environment comprising information on a confidence of the state of the environment; determining a representation for the state of the environment based on the information on the state of the environment and based on the information on the confidence of the state of the environment, the representation of the state of the environment comprising two or more intermediary states representing the state of the environment and the confidence of the state of the environment; and determining information on the action for the automated device based on the representation.

Examples relate to a method, a computer program and an apparatus for determining an action for an automated device based on a state of an environment of the automated device. A method for determining an action for an automated device based on a state of an environment of the automated device. The method comprises obtaining information on environmental measurement results, the measurement results having a limited confidence; estimating information on a state of the environment based on the information on the environmental measurement results, the information on the state of the environment comprising information on a confidence of the state of the environment; determining a representation for the state of the environment based on the information on the state of the environment and based on the information on the confidence of the state of the environment, the representation of the state of the environment comprising two or more intermediary states representing the state of the environment and the confidence of the state of the environment; and determining information on the action for the automated device based on the representation.

Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.

Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.

Methods and systems to develop routes for an aircraft to travel through an airspace. The system includes interface circuitry to receive one or more objectives and one or more constraints for the routes. Processing circuitry is configured to optimize the routes based on one or more of the input parameters. The processing circuitry is configured to: generate a set of routes that each comprise a different flight path through the airspace; rank the routes in the set based on how each of the routes dominates the other routes based on the one or more objectives and constraints; maintain dominant routes in the set and eliminate dominated routes from the set based on the rankings; generate additional dominant routes based on the one or more objectives and constraints; and supplement the set with the additional dominant routes.