Ground vehicle route planning through unfamiliar terrain

Abstract

The invention is entitled Route planning for ground vehicles through unfamiliar terrain. A method is provided for supporting one or more ground vehicles in performing a mission that includes traversing a ground area. The method includes accessing geospatial data generated from an aerial survey of the ground area and performing an analysis of the geospatial data to produce terrain data that describes the ground area. The terrain data is weighted based on constraints of the one or more ground vehicles and a priority order of mission criteria. A map is constructed in which the ground area is represented as a geospatial mapping array of the weighted terrain data, and a path is searched on the map that satisfies the mission criteria. The path is described by a series of waypoints that define a route through the ground area, and the route indication is output for use by the one or more ground vehicles in traversing during the mission.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to robotics, and in particular, to one or more of design, construction, operation, or use of autonomous robots, such as autonomous or semi-autonomous vehicles. BACKGROUND

[0002] Many modern robots and other machines are designed to operate with increased autonomy and less reliance on a trained operator for safe operation. Some of these modern robots are manned, while others are unmanned. In particular, various unmanned vehicles include unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs), unmanned surface vehicles (USVs), unmanned underwater vehicles (UUVs), unmanned space vehicles, and the like. In recent years, the use of unmanned vehicles has grown and the range of applications for these unmanned vehicles is broad, including military and civilian.

[0003] One focus in the field of robotics is improving route planning, particularly in unfamiliar terrain. Existing route planning techniques for unfamiliar terrain use manual techniques that either require pre-existing terrain knowledge or require a ground reconnaissance to be completed. These techniques require manual waypoint selection and route generation, which is often a time-consuming and labor-intensive technique.

[0004] Existing route planning solutions can also use pre-existing base maps and satellite data to evaluate paths through terrain. This technique can be problematic for changing terrain, such as contested terrain, mine fields, and construction sites, and where existing maps can be outdated and / or inaccurate.

[0005] Base maps / satellite data are typically composed of only one data type (images) or are limited by their accuracy and resolution (low precision and large GSD images or terrain meshes). Any route planning using this type of data is unreliable and ineffective when applied to unfamiliar changing terrain due to the inability to quickly deploy satellites for data collection. Current satellite data solutions tend to produce accuracy levels in the range of 3 to 30 meters. In contrast, UAV generated data accuracy is between 5 to 10 centimeters. This allows for more accurate terrain analysis evaluation, resulting in more accurate and reliable route planning.

[0006] Accordingly, it would be desirable to have a system and method that takes into account at least some of the problems discussed above as well as other possible problems. SUMMARY

[0007] Example implementations of the present disclosure relate to route planning for ground vehicles through unfamiliar terrain. Example implementations allow users to evaluate strategic routes through unfamiliar terrain and optimize route planning according to vehicle fleet specifications and mission priorities. Example implementations can be applied in many different situations, including unfamiliar contested terrain, constantly changing terrain such as mine sites and construction sites, and the like. Example implementations can extend to similar scenarios such as escape routes (avoiding specific areas or lines of sight) and multi-target routes (shortest route covering a set of targets). With frequent and efficient remote UAV data collection, example implementations can quickly provide route planning through an area. This allows for quick, accurate, and reliable acquisition of information for unfamiliar contested terrain that would otherwise not be available without prior aerial / ground reconnaissance.

[0008] Accordingly, the present disclosure includes, without limitation, the following example implementations.

[0009] Some example implementations provide an apparatus for supporting one or more ground vehicles to perform a mission comprising traversing a ground area, the apparatus comprising: a memory configured to store computer-readable program code; and a processing circuit configured to access the memory and execute the computer-readable program code to cause the apparatus to at least: access geospatial data generated from an aerial survey of the ground area; perform an analysis of the geospatial data to generate terrain data describing terrain of the ground area according to a plurality of terrain metrics; weight the terrain data based on constraints of the one or more ground vehicles, and a priority order of mission criteria; construct a map of the ground area, wherein the ground area is represented as a geospatial mapping array of the weighted terrain data; search the map for a path that satisfies the mission criteria, the path described by a series of waypoints that define a route through the ground area; and output an indication of the route to be traversed by the one or more ground vehicles during the mission.

[0010] Some example implementations provide a method of supporting one or more ground vehicles to perform a mission comprising traversing a ground area, the method comprising: accessing geospatial data generated from an aerial survey of the ground area; performing an analysis of the geospatial data to generate terrain data describing terrain of the ground area according to a plurality of terrain metrics; weighting the terrain data based on constraints of the one or more ground vehicles, and a priority order of mission criteria; constructing a map of the ground area, wherein the ground area is represented as a geospatial mapping array of the weighted terrain data; searching the map for a path that satisfies the mission criteria, the path described by a series of waypoints that define a route through the ground area; and outputting an indication of the route to be traversed by the one or more ground vehicles during the mission.

[0011] Some example implementations provide a computer-readable storage medium for supporting one or more ground vehicles to perform a task comprising traversing a ground area, the computer-readable storage medium being non-transitory and having computer-readable program code stored therein that, in response to execution by a processing circuit, causes an apparatus to at least: access geospatial data produced from an aerial survey of the ground area; perform an analysis of the geospatial data to produce terrain data describing a terrain of the ground area according to a plurality of terrain metrics; weight the terrain data based on constraints of the one or more ground vehicles, and priorities of task criteria; construct a map of the ground area, wherein the ground area is represented as a geospatial mapping array of the weighted terrain data; search the map for a path that satisfies the task criteria, the path described by a series of waypoints that define a route through the ground area; and output an indication of the route for the one or more ground vehicles to traverse during the task.

[0012] These and other features, aspects, and advantages of the present disclosure will become evident to those skilled in the art from a reading of the following detailed description, taken in conjunction with the accompanying drawings. The present disclosure includes any combination of two, three, four, or more of the features or elements set forth in the disclosure, whether explicitly combined or otherwise described herein in specific example implementations. The present disclosure is intended to be read in its entirety, such that any separable features or elements of the disclosure, in any of its aspects and example implementations, should be considered combinable, unless the context of the disclosure explicitly dictates otherwise.

[0013] It will therefore be appreciated that this brief summary has been provided solely for the purpose of summarizing some example implementations, in order to provide a basic understanding of some aspects of the disclosure. Accordingly, it will be appreciated that the above-described example implementations are merely examples and should not be construed as limiting the scope or spirit of the disclosure in any way. Other example implementations, aspects, and advantages will become apparent from a reading of the following detailed description, taken in conjunction with the attached drawings, which illustrate, by example, principles of some of the described example implementations. BRIEF DESCRIPTION OF DRAWINGS

[0014] Having thus described in general terms the example implementations of the present disclosure, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale, and wherein:

[0015] Figure 1 a system is shown in accordance with some example implementations;

[0016] Figure 2 a high-level system of a robot of a system is shown in accordance with some example implementations; Figure 1

[0017] Figure 3 a high-level system of a robot of a system is shown in accordance with some example implementations; Figure 1 ​a high-level system of control stations of systems;

[0018] Figure 4 、 5 , 6, 7, 8, 9, 10, 11, and 12 illustrate views of a graphical user interface (GUI) implemented in accordance with some examples;

[0019] Figure 13A 、 13B and 13C are flow diagrams illustrating various steps in a method of supporting one or more ground vehicles in performing a task in accordance with various example implementations; and

[0020] Figure 14 illustrates a device in accordance with some example implementations. DETAILED DESCRIPTION

[0021] Some embodiments of the disclosure will now be described in detail in the following text, in conjunction with the attached drawings, in which some, but not all, embodiments of the disclosure are shown. In fact, the various embodiments of the disclosure can be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein; rather, these example embodiments are provided so that the disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Like reference numerals refer to like elements throughout.

[0022] Unless otherwise stated or clear from context, references to first, second, etc. should not be construed as implying a particular order. A feature described as being above another feature (unless otherwise stated or clear from context) can instead be below, and vice versa; and similarly, a feature described as being to the left of another feature can instead be to the right, and vice versa. Also, while there can be references herein to quantitative measurements, values, geometric relationships, etc., unless otherwise stated, any one or more (if not all) of these can be absolute or approximate, to account for acceptable variations that can occur, such as those due to engineering tolerances, etc.

[0023] As used herein, unless otherwise stated or clear from context, an "or" of a set of operands is "inclusive or," so that it is true if and only if one or more of the operands is true, as opposed to "exclusive or," which is false if all of the operands are true. Thus, for example, "[A] or [B]" is true if [A] is true, or if [B] is true, or if both [A] and [B] are true. Further, the articles "a" and "an" denote "one or more," unless otherwise stated or clearly indicated to the contrary from the context. Also, it will be appreciated that the terms "data," "content," "digital content," "information," and similar terms can be used interchangeably, unless otherwise stated.

[0024] Example implementations of the present disclosure relate generally to robots, and in particular to one or more of the design, construction, operation, or use of robots. As used herein, a robot is a machine designed and configurable to perform actions in its environment. A robot can be manned or unmanned. A robot can be fully controlled by a human, or a robot can be semi-autonomous or autonomous, with at least some actions performed independently or with minimal human intervention. In some examples, a robot can operate in various modes with various amounts of human control.

[0025] Robots designed and configurable to fly can sometimes be referred to as aerial robots. Robots designed and configurable to operate with at least some degree of autonomy can sometimes be referred to as autonomous robots, or in the case of autonomous robots that are also designed and configurable to fly, autonomous aerial robots. Examples of suitable robots include aerial robots, humanoid robots, automata, autonomous vehicles, bomb disposal robots, hexapod robots, industrial robots, insect robots, micro robots, nano robots, military robots, mobile robots, rovers, service robots, surgical robots, walking robots, and the like. Other examples include various unmanned vehicles, including unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs), unmanned surface vehicles (USVs), unmanned underwater vehicles (UUVs), unmanned space vehicles, and the like. These can include autonomous cars, airplanes, trains, industrial vehicles, fulfillment center robots, supply chain robots, robotic vehicles, mine-rolling vehicles, and the like.

[0026] Robots implemented as vehicles typically include a base structure and a propulsion system coupled to the base structure. The base structure is the primary support structure of the vehicle, to which other components are attached. The base structure is the load-bearing frame of the vehicle, which structurally supports the vehicle in construction and function. In various contexts, the base structure can be referred to as a chassis, a body, and the like.

[0027] The propulsion system includes one or more electric motors or engines configured to provide power to one or more propulsors to generate a propulsive force that moves the vehicle. A propulsor is any of a variety of different ways of converting power into a propulsive force. Examples of suitable propulsors include rotors, propellers, wheels, and the like. In some examples, the propulsion system includes a drivetrain configured to transfer power from the electric motor or engine to the propulsor. The electric motor / engine and drivetrain can in some cases be referred to as the powertrain of the vehicle.

[0028] Figure 1A system 100 implemented in accordance with some example implementations of the present disclosure is shown. The system can include any of a number of different subsystems (each individual system) for performing one or more functions or operations. As shown, in some examples, the system includes one or more robots 102, which can be any of a number of different types of robots. In particular, as shown, the one or more robots can include an aerial vehicle 104, such as a UAV, and a ground vehicle 106, such as a UGV. However, it should be appreciated that the system can additionally or alternatively include many other types of robots. These can include other types of robots implemented as vehicles, including those that can be manned or unmanned.

[0029] Also shown, the system 100 can include a control station 108. In this regard, the control station provides a facility for communicating with or controlling the one or more robots, such as over a wired or wireless data link, either directly or across one or more networks 110. In some examples, the control station can be a ground station and not control the robots in all cases. In this regard, the control station can be configured to monitor the robots. The control station can initiate a mission, but the control station can not control the robots to act. At times, the control station can then enable or provide a distributed network / server of software functionality.

[0030] Figure 2 Further shown is a high-level system of a robot 102 implemented in accordance with some example implementations, which can be implemented as an aerial vehicle 104, a ground vehicle 106, or other type of robot. As shown, the robot includes a core system 202, a secondary system 204, and a payload system 206. The core system includes components that provide core functionality of the robot, such as controlled motion operations. For example, the core system can include an autopilot, one or more control servo systems, and one or more sensors, such as avionics sensors in the case of an aerial robot, such as an aerial vehicle. The control servo system(s) can include one or more servo systems for moving control surfaces of the robot. In examples where the robot is an aerial vehicle, the control surfaces can include ailerons, elevators, rudders, and flaps. The avionics sensor(s) can include one or more sensors for determining airspeed, pitch, pitch rate, roll, roll rate, yaw, yaw rate, acceleration, and / or inertial navigation. In other examples, the core system can include more, fewer, and / or different components.

[0031] The auxiliary system 204 can include components whose functions assist the core system 202 and / or provide other functions for the robot 102 in addition to the core functions. In the particular instance of an aerial vehicle 104, the auxiliary system can include sensors, computers, and signaling for: determining the aircraft position rather than inertial extrapolation of position, aircraft navigation and collision avoidance lighting systems, an aircraft air traffic control (ATC) transponder, one or more command and control (C2) data links, health and status monitoring of aircraft equipment, propulsion systems (assuming controlled gliding on battery power), and / or rejecting operator input that exceeds safety limits.

[0032] The auxiliary system 204 can include a remote control interface, one or more lighting systems, and one or more transponders. The remote control interface can be used to send and / or receive C2 communications, such as C2 messages and / or commands provided by a remote operator of the robot 102. For example, the robot can transmit C2 messages and / or commands as control messages for remotely controlling the robot. The lighting system(s) can include one or more lighting sources for illuminating or lighting a portion or all of the robot. In instances where the robot is an aerial vehicle 104, the lighting system(s) can provide illumination for the wings and other aspects of the aircraft. The transponder(s) can receive radio signals and automatically transmit different radio signals, such as one or more transponders for communicating with air traffic control systems. In other instances, the auxiliary system can include more, fewer, and / or different components.

[0033] The payload system 206, collectively, can be carried by the robot 102 as cargo or a payload. For example, the payload system can include payload devices, payload sensors, and payload communications. The payload devices can include one or more devices that are not part of the core system 202 or the auxiliary system 204 that are carried on the robot. The payload sensor(s) can include one or more sensors configured to measure conditions in the environment surrounding the robot and provide data about the measured conditions in the environment. The payload communications can include one or more devices for communicating data and possibly control messages with the payload system; for example, providing uplink and / or downlink data for communicating with the payload system and possibly other components of the robot. In other instances, the payload system can include more, fewer, and / or different components.

[0034] Data provided by the payload sensor(s) of the payload system 206 can include weather conditions including wind speed, wind direction, temperature, humidity, barometric pressure, and / or rainfall; position data including latitude, longitude, and / or altitude data; kinematic information (e.g., position, velocity, speed, acceleration data), one or more vehicles, and / or one or more aerial vehicles, and electromagnetic radiation data (e.g., infrared, ultraviolet, X-ray data). The payload sensor(s) can include one or more GPS sensors, position sensors, gyroscopes, accelerometers, magnetometers, video and / or still cameras / imaging systems, light sensors, infrared sensors, ultraviolet sensors, X-ray sensors, weather sensors, proximity sensors, vibration and / or motion sensors, thermal sensors, thermometers, lasers, wind sensors, barometers, rain gauges, and microphones. In some examples, the payload sensor(s) can be used for relative position sensing, where relative position sensing provides information about the rate of the aerial vehicle relative to the vehicle; for example, using differential GPS and / or radio-based triangulation methods.

[0035] In particular examples of the aerial vehicle 104, the payload system 206 can include equipment, signals, and commands for modular payloads not required for flight, including gimbals for positioning and stabilizing the payload, optical and infrared image capture equipment, computers for payload stabilization, tracking algorithms, and metadata tagging, transceivers for payload data linking with systems not on the aerial vehicle, transceivers for ground-to-ground or air-to-ground communication relays, and other data collection electronics.

[0036] Figure 3 A high-level system of the control station 108 implemented in accordance with some examples of the present disclosure is further shown. As shown, for example, the control station can include a terrain analysis module 302 and a route planning module 304. While shown as a system of the control station, it should be appreciated that one or both of the terrain analysis module or the route planning module can instead be implemented on the robot 102, such as the aerial vehicle 104, the ground vehicle 106, or other types of robots.

[0037] According to some example implementations of the present disclosure, the terrain analysis module 302 is configured to access geospatial data generated from an aerial survey of the ground area, such as by the aerial vehicle 104. In this regard, the geospatial data can be accessed during the activity of planning the mission, and the geospatial data is generated from an aerial survey contemporaneous with the activity. The geospatial data can be represented in a variety of different ways. In some examples, the geospatial data includes a point cloud of lidar data that is georegistered to the ground area and collected during the aerial survey. In the same or other examples, the geospatial data can include a raster image of the ground area, where the raster image has a dot-matrix data structure with a spatially coincident matrix of layers of geospatial data.

[0038] In some examples, the terrain analysis module 302 is configured to perform an analysis of the geospatial data to generate terrain data that describes the ground area according to a plurality of terrain metrics, such as elevation, roughness, slope, vegetation density, or a plurality of metrics from a line of sight of a point of interest. Other examples of suitable terrain metrics can include obstacles (man-made or natural), water bodies, cover, concealment, access / escape routes, distance to a point of interest, key terrain, decisive terrain, vantage points, etc. The terrain analysis module is configured to weight the terrain data based on the constraints of the one or more ground vehicles 106 and a priority order of the criteria of the mission, which can include a plurality of the following for the one or more ground vehicles: traversability, speed, fuel efficiency, concealment, or wireless communication range. And the terrain analysis module can construct a map of the ground area, where the ground area is represented as a geospatial mapping array of the weighted terrain data.

[0039] It should be appreciated that the one or more criteria of the mission can influence the weighting of the plurality of terrain metrics. In this regard, terrain metrics such as slope, obstacles, vegetation density, water bodies, etc. can be weighted based on traversability. Similarly, terrain metrics such as vegetation density, cover, concealment, access / escape routes, distance to a point of interest, key terrain, decisive terrain, vantage points, etc. can be weighted based on concealment.

[0040] In some examples, the terrain data includes a terrain data set for a respective terrain metric of the plurality of terrain metrics (e.g., elevation, roughness, slope, vegetation density, line of sight). The terrain analysis module 302 can be configured to weight the terrain data sets, where different terrain data sets are differentially weighted based on the constraints of the one or more ground vehicles 106. The terrain analysis module can then aggregate the weighted terrain data sets, and construct a map from the aggregated terrain data sets.

[0041] In some instances in which the geospatial data includes raster images having a bitmap data structure with a multi-layer spatial coincidence matrix of the geospatial data, the terrain analysis module 302 can be configured to analyze the multi-layer spatial coincidence matrix to produce terrain data including a terrain data set for a respective terrain metric of a plurality of terrain metrics. In some further instances, the terrain data also has a bitmap data structure with a second multi-layer second spatial coincidence matrix of the respective terrain data sets of the terrain data set. The terrain analysis module can then weight the second spatial coincidence matrix, weighting the terrain data. And for the map, the terrain analysis module can construct a raster image of the ground area from the weighted second spatial coincidence matrix.

[0042] Regardless of the exact manner in which the terrain analysis module 302 constructs the map, the route planning module 304 is configured to search the map for a path that satisfies the mission criteria. This can include a route planning module configured to search over the map to find a path that best fits the criteria according to an order of priority (e.g., traversability, speed, fuel efficiency, concealment, wireless communication range). The route planning module is configured to output an indication of a route for the one or more ground vehicles 106 to traverse during the mission. In some instances, the path can be described by a series of waypoints that define a route through the ground area; and thus, the indication of the route can include a series of waypoints that define the route.

[0043] The route planning module 304 can be configured to search for a path in the map in a variety of different ways. In some instances, the route planning module is configured to use artificial intelligence (AI), machine learning (ML), or other advanced algorithms or techniques to avoid the need for manual waypoint selection and route generation techniques currently used for route planning through unfamiliar terrain. The route planning module can use trained models, and automated data analysis allows for reduced user intervention and seamless fast route detection. And terrain analysis by the terrain analysis module 302 using metrics such as vehicle constraints and mission criteria can enable the route planning module to find a path that finds a route that is both reliable and realistic for the mission.

[0044] The one or more ground vehicles 106 can then be caused to traverse the route provided by the indication output by the route planning module 304. This can occur in a variety of different ways. In some instances, the one or more ground vehicles can receive an indication of the route to traverse. In other instances, the control station 108 can generate a command according to the route, and the ground station can communicate the command to the one or more ground vehicles to cause the one or more ground vehicles to traverse the route.

[0045] To further illustrate an example implementation of the present disclosure, Figures 4-12Views of a graphical user interface (GUI) 400, which can be generated at the control station 108 to support one or more ground vehicles 106 performing a mission including traversing a ground area, are shown in accordance with some example implementations. The GUI can be generated by the terrain analysis module 302, the route planning module 304, or another module or software application at the control station. As shown, the GUI includes a number of graphical control elements to enable a user to interact with one or both of the terrain analysis module or the route planning module.

[0046] In particular, for example, the GUI 400 can include graphical control elements from which a mission is specified. These can include first and second graphical control elements 402, 404 from which a start and destination are specified, and a third graphical control element 406 from which one or more points of interest (targets) can be specified to define a perspective view of a field of view. The GUI can include a fourth graphical control element 408 from which a profile (and thus constraints) of one or more ground vehicles for the mission can be obtained, and a fifth graphical control element 410 to enable selection of a type of mission. The GUI can further include a sixth graphical control element 412 from which criteria for the mission can be selected (and possibly limited), and from which the criteria can be ordered in priority. And the GUI can include a window 414 in which a summary of the mission or plan can be displayed.

[0047] The GUI 400 further includes a window 416 in which one or more of geospatial data, terrain data, or a route through the ground area is displayed. In Figure 4 and 5 , the window includes a raster image of the ground area formed from a point cloud of lidar data as described above. In Figure 4 , the raster image is presented in a three-dimensional (3D), map view 418; and in Figure 5 , the raster image is presented in a two-dimensional (2D), bird’s eye view 518.

[0048] In Figure 6 , 7 and 8, the window 416 includes terrain data describing the ground area in terms of a terrain metric. In particular, in Figure 6 , the terrain data 618 in the window describes the ground area in terms of slope; and in Figure 7 , the terrain data 718 in the window describes the ground area in terms of a field of view from a point of interest. In Figure 8 , the terrain data 818 describes the ground area in terms of a plurality of terrain metrics aggregated.

[0049] In Figure 9 and 10In the middle, window 416 includes a map view 918 of a raster image of the ground area, and further includes corresponding routes 920, 1020 across the ground area according to different priority orders for task criteria. In this respect, Figure 9 Route 920 will prioritize accessibility over other criteria of the task (as indicated by the sixth graphic control element 412). Figure 10 Route 1020 prioritizes speed over other criteria for the mission. Figure 11 and 12 The windows in the map include the same corresponding routes 920 and 1020, but have a map view 1118 for terrain data for multiple terrain measurements.

[0050] Figures 13A-13C This is a flowchart illustrating various steps in a method 1300 implemented according to various examples of this disclosure, supporting one or more ground vehicles in performing tasks including traversing ground areas. The method includes accessing geospatial data generated from aerial surveys of the ground area, such as... Figure 13A As shown in box 1302. The method includes performing analysis of geospatial data to generate terrain data describing a ground area based on multiple terrain measures, as shown in box 1304. The method includes weighting the terrain data based on the priority order of constraints and task criteria of one or more ground vehicles, as shown in box 1306. The method includes constructing a map of the ground area, wherein the ground area is represented as a geospatial mapping array of weighted terrain data, as shown in box 1308. The method includes searching the map for paths that meet the task criteria, the paths being described by a series of waypoints defining the route through the ground area, as shown in box 1310. And the method includes outputting indications of the routes traversed by one or more ground vehicles during the task, as shown in box 1312.

[0051] In some instances, geospatial data is accessed at box 1302 during the planned mission activities, and the geospatial data is generated by aerial surveys performed concurrently with the activities.

[0052] In some instances, geospatial data generated from aerial surveys of ground areas includes point clouds of lidar data georeferenced to the ground area and collected during the aerial surveys.

[0053] In some instances, an analysis is performed at box 1304 to produce topographic data describing the ground area based on multiple topographic measures, including elevation, roughness, slope, vegetation density, or multiple measures from the viewpoint of interest.

[0054] In some instances, the terrain data includes a set of terrain data for a respective terrain metric of the plurality of terrain metrics, and weighting the terrain data at block 1306 includes weighting the set of terrain data, different ones of the set of terrain data being weighted differently based on the constraint of one or more of the sets of terrain data, as shown in block 1314. In some of these instances, constructing the map at block 1308 includes aggregating the weighted sets of terrain data, and constructing the map from the aggregated sets of terrain data, as shown in block 1316. Figure 13B

[0055] In some instances, the geospatial data includes a raster image of the ground area, the raster image having a dot-matrix data structure, the dot-matrix data structure having a multi-layer spatial coincidence matrix of the geospatial data. In some of these instances, performing the analysis at block 1304 on the multi-layer spatial coincidence matrix to produce terrain data including a set of terrain data for a respective terrain metric of the plurality of terrain metrics.

[0056] In some instances, the terrain data also has a dot-matrix data structure, the dot-matrix data structure having a second multi-layer second spatial coincidence matrix of the respective ones of the set of terrain data. In some of these instances, weighting the terrain data at block 1306 includes weighting the second spatial coincidence matrix, as shown in block 1318. And in some of these instances, constructing the map at block 1308 includes constructing the raster image of the ground area from the weighted second spatial coincidence matrix, as shown in block 1320. Figure 13C

[0057] In some instances, searching the map at block 1310 includes searching the map to find a path that best fits the criteria according to the priority order, as shown in block 1322. Figure 13A

[0058] In some instances, the terrain data is weighted at block 1306 based on a priority order of the mission criteria, including a plurality of one or more of traversability, speed, fuel efficiency, concealment, or wireless communication range for the one or more ground vehicles.

[0059] ​​​According to example implementations of the present disclosure, system 100, including one or more robots 102 (aerial vehicles 104, ground vehicles 106) and control station 108 and subsystems thereof, can be implemented by various mechanisms. Mechanisms for implementing the system and subsystems thereof can include hardware alone or in combination with one or more computer programs from computer-readable storage media. In some examples, one or more devices can be configured to function as or otherwise implement the system and subsystems shown and described herein. Some particular examples can include one or more devices configured to function as or otherwise implement control station and subsystems thereof, including terrain analysis module 302 and route planning module 304. In examples involving more than one device, the individual devices can be connected to or otherwise in communication with each other in a variety of different ways, such as directly or indirectly via wired or wireless networks, etc.

[0060] Figure 14 A device 1400 according to some example implementations of the present disclosure is shown. Generally, devices of example implementations of the present disclosure can be embodied in one or more fixed or portable electronic devices. A device can include one or more of each of a number of components, such as, for example, a processing circuit 1402 (e.g., a processor unit) connected to a memory 1404 (e.g., a storage device).

[0061] Processing circuit 1402 can consist of one or more processors alone or in combination with one or more memories. Processing circuit is generally any computer hardware capable of processing information such as, for example, data, computer programs, and / or other suitable electronic information. Processing circuit consists of a set of electronic circuits, some of which can be packaged as integrated circuits or multiple interconnected integrated circuits (sometimes more commonly referred to as “chips”). Processing circuit can be configured to execute computer programs, which can be stored on the processing circuit or otherwise stored in memory 1404 (of the same or another device).

[0062] Depending on the particular implementation, the processing circuit 1402 can be a number of processors, a multi-core processor, or some other type of processor. Further, the processing circuit can be implemented with a system-on-a-chip where a main processor is present with one or more co-processors on a single chip. As another illustrative example, the processing circuit can be a symmetric multi-processor system containing multiple processors of the same type. In yet another example, the processing circuit can be embodied as or otherwise include one or more ASICs, FPGAs, and so on. Accordingly, although the processing circuit can be capable of executing a computer program to perform one or more functions, the processing circuit of various examples can be capable of performing the one or more functions without the aid of a computer program. In either case, the processing circuit can be appropriately programmed to perform the functions or operations implemented by examples in accordance with the present disclosure.

[0063] The memory 1404 is generally any computer hardware able to store information such as, for example, data, computer program (e.g., computer-readable program code 1406), and / or other suitable information, either on a temporary basis and / or a permanent basis. Memory can include both volatile and / or non-volatile memory and can be fixed or removable. Examples of suitable memory include random access memory (RAM), read only memory (ROM), hard drives, flash memory, thumb drives, removable computer disks, optical disks, magnetic tape, or some combination thereof. Optical disks can include compact disks - read only memory (CD-ROM), compact disks - read / write (CD-R / W), DVDs, and so forth. In various cases, memory can be referred to as computer-readable storage media. Computer-readable storage media is a non-transitory device able to store information and distinguish from computer-readable transmission media, such as an electronic, electromagnetic, or optical signal carrying information that is capable of being conveyed from one location to another. Computer-readable media as described herein can generally refer to computer-readable storage media or computer-readable transmission media.

[0064] In addition to the memory 1404, the processing circuit 1402 can be connected to one or more interfaces for displaying, transmitting and / or receiving information. The interface(s) can include a communication interface 1408 (e.g., a communication unit) and / or one or more user interfaces. The communication interface can be configured to transmit and / or receive information, such as transmitting information to and / or receiving information from other devices (one or more), networks (one or more), and so forth. The communication interface can be configured to transmit and / or receive information over physical (wired) and / or wireless communication links. Examples of suitable communication interfaces include network interface controllers (NICs), wireless NICs (WNICs), and so forth.

[0065] The user interface can include a display 1410 and / or one or more user input interfaces 1412 (e.g., input / output units). The display can be configured to present or otherwise display information to a user, suitable examples of which include liquid crystal displays (LCDs), light emitting diode displays (LEDs), plasma display panels (PDPs), etc. The user input interface can be wired or wireless and can be configured to receive information from a user into the device, such as for processing, storage, and / or display. Suitable examples of user input interfaces include microphones, image or video capture devices, keyboards or keypads, joysticks, touch- sensitive surfaces (separate from or integrated into a touchscreen), biometric sensors, etc. The user interface can further include one or more interfaces for communicating with peripheral devices such as printers, scanners, etc.

[0066] As described above, program code instructions can be stored in memory and executed by processing circuitry programmed thereby, to implement the functions of the systems, subsystems, tools, and their respective elements described herein. As will be appreciated, any suitable program code instructions can be loaded onto a computer or other programmable apparatus to produce a particular machine, such that the particular machine becomes a means for implementing the functions specified herein. These program code instructions can also be stored in a computer-readable storage medium that can direct a computer, a processing circuitry, or other programmable apparatus to function in a particular manner, such that the particular machine or particular article of manufacture becomes a means for implementing the functions specified herein. The instructions stored in the computer-readable storage medium can produce an article of manufacture, wherein the article of manufacture becomes an instrument for implementing the functions specified herein. The program code instructions can be retrieved from the computer-readable storage medium and loaded into a computer, processing circuitry, or other programmable apparatus to configure the computer, processing circuitry, or other programmable apparatus to execute operations to be performed on or by the computer, processing circuitry, or other programmable apparatus.

[0067] The retrieval, loading, and execution of program code instructions can be performed sequentially such that one instruction is retrieved, loaded, and executed at a time. In some example implementations, the retrieval, loading, and / or execution can be performed in parallel such that multiple instructions are retrieved, loaded, and / or executed together. The execution of program code instructions can produce a computer-implemented process such that the instructions executed by the computer, processing circuitry, or other programmable apparatus provide operations for implementing the functions described herein.

[0068] Execution of instructions by processing circuitry or storage of instructions in a computer-readable storage medium support combinations of operations for performing the specified functions. In this manner, the device 1400 can include processing circuitry 1402 and a computer-readable storage medium or memory 1404 coupled to the processing circuitry, where the processing circuitry is configured to execute computer-readable program code 1406 stored in the memory. It will also be appreciated that one or more functions and combinations of functions can be implemented by special purpose hardware-based computer systems and / or by processing circuitry that is specially configured or programmed to perform the specified functions, or combinations of special purpose hardware and program code instructions.

[0069] As explained above and reiterated below, the present disclosure includes, but is not limited to, the following example implementations.

[0070] Clause 1. A device for supporting execution of a task by one or more ground vehicles that includes traversing a ground area, the device comprising: a memory configured to store computer-readable program code; and a processing circuitry configured to access the memory and execute the computer-readable program code to cause the device to at least: access geospatial data generated from an aerial survey of the ground area; perform an analysis of the geospatial data to generate terrain data that describes a terrain of the ground area according to a plurality of terrain metrics; weight the terrain data based on constraints of the one or more ground vehicles, and a priority order of the task criteria; construct a map of the ground area, wherein the ground area is represented as a geospatial mapping array of weighted terrain data; search the map for a path that satisfies the task criteria, the path described by a series of waypoints that define a route through the ground area; and output an indication of the route to be traversed by the one or more ground vehicles during the task.

[0071] Clause 2. The device of clause 1, wherein the geospatial data is accessed during planning of an activity of the task, and the geospatial data is generated from an aerial survey performed concurrently with the activity.

[0072] Clause 3. The device of clause 1 or clause 2, wherein the geospatial data generated from the aerial survey of the ground area includes a point cloud of lidar data that is georegistered to the ground area and collected during the aerial survey.

[0073] Clause 4. The device of any one of clauses 1 to 3, wherein the analysis is performed to generate the terrain data that describes the terrain of the ground area according to the plurality of terrain metrics, the terrain metrics including elevation, roughness, slope, vegetation density, or viewshed from points of interest.

[0074] Clause 5. The device of any one of clauses 1-4, wherein the terrain data comprises a set of terrain data for a respective terrain metric of the plurality of terrain metrics, and the device caused to weight the terrain data comprises a device caused to weight the set of terrain data, different ones of the set of terrain data being weighted differently based on constraints of one or more ground vehicles, and wherein the device caused to construct the map comprises a device caused to aggregate the weighted sets of terrain data and construct the map from the aggregated set of terrain data.

[0075] Clause 6. The device of any one of clauses 1-5, wherein the geospatial data comprises a raster image of the ground area, the raster image having a dot-matrix data structure, the dot-matrix data structure having a multi-layer spatial coincidence matrix of the geospatial data, and the analysis is performed on the multi-layer spatial coincidence matrix to produce terrain data, the terrain data comprising a set of terrain data for a respective terrain metric of the plurality of terrain metrics.

[0076] Clause 7. The device of clause 6, wherein the terrain data further has the dot-matrix data structure, the dot-matrix data structure having a second multi-layer spatial coincidence matrix of respective ones of the set of terrain data, and wherein the device caused to weight the terrain data comprises a device caused to weight the second spatial coincidence matrix, and the device caused to construct the map comprises a device caused to construct the raster image of the ground area from the weighted second spatial coincidence matrix.

[0077] Clause 8. The device of any one of clauses 1-7, wherein the device caused to search the map comprises a device caused to search the map to find a path that best fits the criteria according to a priority order.

[0078] Clause 9. The device of any one of clauses 1-8, wherein the terrain data is weighted based on a priority order of the mission criteria, the mission criteria comprising a plurality of one or more of traversability, speed, fuel efficiency, concealment, or wireless communication range for the one or more ground vehicles.

[0079] Clause 10. A method of supporting one or more ground vehicles to perform a mission comprising traversing a ground area, the method comprising: accessing geospatial data generated from an aerial survey of the ground area; performing an analysis of the geospatial data to generate terrain data describing the ground area according to a plurality of terrain metrics; weighting the terrain data based on constraints of the one or more ground vehicles and a priority order of the mission criteria; constructing a map of the ground area, wherein the ground area is represented as a geospatial mapping array of the weighted terrain data; searching the map for a path that satisfies the mission criteria, the path described by a series of waypoints that define a route through the ground area; and outputting an indication of the route to be traversed by the one or more ground vehicles during the mission.

[0080] Clause 11. The method of clause 10, wherein the geospatial data is accessed during planning of an activity of the mission, and the geospatial data is generated from an aerial survey performed concurrently with the activity.

[0081] Clause 12. The method of clause 10 or clause 11, wherein the geospatial data generated from the aerial survey of the ground area comprises a point cloud of lidar data georegistered to the ground area and collected during the aerial survey.

[0082] Clause 13. The method of any of clauses 10 to 12, wherein the analysis is performed to generate the terrain data describing the ground area according to the plurality of terrain metrics, the terrain metrics comprising elevation, roughness, slope, vegetation density, or a plurality from a viewshed of points of interest.

[0083] Clause 14. The method of any of clauses 10 to 13, wherein the terrain data comprises a terrain data set for a respective terrain metric of the plurality of terrain metrics, and weighting the terrain data comprises weighting the terrain data sets, different ones of the terrain data sets being differentially weighted based on constraints of the one or more ground vehicles, and wherein constructing the map comprises aggregating the weighted terrain data sets, and constructing the map from the aggregated terrain data sets.

[0084] Clause 15. The method of any of clauses 10 to 14, wherein the geospatial data comprises a raster image of the ground area, the raster image having a dot-matrix data structure having a plurality of spatially coincident matrices of the geospatial data, and the analysis is performed on the plurality of spatially coincident matrices to generate the terrain data, the terrain data comprising a terrain data set for a respective terrain metric of the plurality of terrain metrics.

[0085] Clause 16. The method of clause 15, wherein the terrain data further has a dot matrix data structure having a second spatial coincidence matrix of a second plurality of layers of respective terrain data sets of the terrain data sets, and wherein weighting the terrain data includes weighting the second spatial coincidence matrix, and constructing the map includes constructing a raster image of the ground area from the weighted second spatial coincidence matrix.

[0086] Clause 17. The method of any of clauses 10 to 16, wherein searching the map includes searching the map to find a path that most conforms to the criteria according to the priority order of the mission criteria.

[0087] Clause 18. The method of any of clauses 10 to 17, wherein the terrain data is weighted based on a priority order of the mission criteria, the mission criteria including a plurality of traversability, speed, fuel efficiency, concealment, or wireless communication range for the one or more ground vehicles.

[0088] Clause 19. A computer-readable storage medium for supporting one or more ground vehicles in performing a mission including traversing a ground area, the computer-readable storage medium being non-transitory and having computer-readable program code stored therein that, in response to execution by processing circuitry, causes an apparatus to at least: access geospatial data generated from an aerial survey of the ground area; perform an analysis of the geospatial data to generate terrain data describing the ground area according to a plurality of terrain metrics; weight the terrain data based on constraints of the one or more ground vehicles, and a priority order of the mission criteria; construct a map of the ground area, wherein the ground area is represented as a geospatial mapping array of the weighted terrain data; search the map for a path that satisfies the mission criteria, the path described by a series of waypoints that define a route through the ground area; and output an indication of the route to be traversed by the one or more ground vehicles during the mission.

[0089] Clause 20. The computer-readable storage medium of clause 19, wherein the geospatial data is accessed during planning of an activity of the mission, and the geospatial data is generated from an aerial survey performed concurrently with the activity.

[0090] Clause 21. The computer-readable storage medium of clause 19 or clause 20, wherein the geospatial data generated from the aerial survey of the ground area includes a point cloud of lidar data collected georeferenced to the ground area during the aerial survey.

[0091] Clause 22. The computer-readable storage medium of any one of clauses 19-21, wherein the analysis is performed to produce the terrain data that describes the ground area according to a plurality of terrain metrics, the terrain metrics including elevation, roughness, slope, vegetation density, or a plurality from a viewshed of points of interest.

[0092] Clause 23. The computer-readable storage medium of any one of clauses 19-22, wherein the terrain data includes a set of terrain data for a respective terrain metric of the plurality of terrain metrics, and the device caused to weight the terrain data includes a device caused to weight the set of terrain data, different sets of terrain data in the set of terrain data being weighted differently based on constraints of the one or more ground vehicles, and wherein the device caused to construct the map includes a device caused to aggregate the weighted sets of terrain data and construct the map from the aggregated set of terrain data.

[0093] Clause 24. The computer-readable storage medium of any one of clauses 19-23, wherein the geospatial data includes a raster image of the ground area, the raster image having a dot matrix data structure, the dot matrix data structure having a plurality of spatially coinciding matrices of layers, and the analysis is performed on the plurality of spatially coinciding matrices of layers to produce the terrain data, the terrain data including a set of terrain data for a respective terrain metric of the plurality of terrain metrics.

[0094] Clause 25. The computer-readable storage medium of clause 24, wherein the terrain data further has the dot matrix data structure, the dot matrix data structure having a second plurality of spatially coinciding matrices of layers of respective sets of terrain data of the set of terrain data, and wherein the device caused to weight the terrain data includes a device caused to weight the second spatially coinciding matrices of layers, and the device caused to construct the map includes a device caused to construct the raster image of the ground area from the weighted second spatially coinciding matrices of layers.

[0095] Clause 26. The computer-readable storage medium of any one of clauses 19-25, wherein the device caused to search the map includes a device caused to search the map to find a path that most conforms to the criteria according to an order of priority.

[0096] Clause 27. The computer-readable storage medium of any one of clauses 19-26, wherein the terrain data is weighted based on an order of priority of the mission criteria, the mission criteria including a plurality of from a group consisting of traversability, speed, fuel efficiency, concealment, or wireless communication range for the one or more ground vehicles.

[0097] Many modifications and other implementations of the disclosure set forth herein will occur to those with a working knowledge of the disclosure's field of endeavor based on the teachings presented in the foregoing description and the associated drawings. Accordingly, it is to be understood that the disclosure is not to be limited to the specific embodiments disclosed and that modifications and other implementations are intended to be included within the scope of the appended claims. Moreover, although the foregoing description and the associated drawings describe example implementations in the context of certain example combinations of elements and / or functions, it should be appreciated that different combinations of elements and / or functions can be provided by alternative implementations without departing from the scope of the appended claims. In this regard, for example, an element described herein in the context of one particular implementation can be implemented alone, in different combinations, or in a different context to implement a different, but related, implementation. Further, if desired, the various embodiments described herein can each include an article of manufacture that comprises a computer program product tangibly embodied in a machine-readable storage medium (e.g., magnetic disk, optical disk, magnetic tape, or flash memory) containing instructions programming a computer (e.g., processing plant 100) to implement methods aspects of the present disclosure. Instructions can provide true programs, subroutines, routines, methods of operations, components, data structures, or other types of software aspects, which execute upon a computer (e.g., processing plant 100).

Claims

1. An apparatus (1400) for supporting one or more ground vehicles to perform a mission comprising traversing a ground area, the apparatus comprising: a memory (1404) configured to store computer-readable program code (1406); and a processing circuit (1402) configured to access the memory and execute the computer-readable program code to cause the apparatus at least to: access (1302) geospatial data produced by an aerial survey of the ground area, wherein the geospatial data comprises a raster image of the ground area, the raster image having a dot-matrix data structure, the dot-matrix data structure having a multi-layer spatially coincident matrix of the geospatial data; perform (1304) an analysis of the geospatial data to produce terrain data describing the ground area according to a plurality of terrain metrics; weight (1306) the terrain data based on constraints of the one or more ground vehicles and a priority order of criteria of the mission; construct (1308) a map of the ground area, wherein the ground area is represented as a geospatial mapping array of the weighted terrain data; search (1310) the map for a path that satisfies the criteria of the mission, the path described by a series of waypoints that define a route through the ground area; and output (1312) an indication of the route to be traversed by the one or more ground vehicles during the mission.

2. The apparatus (1400) of claim 1, wherein the geospatial data is accessed (1302) during planning of an activity of the mission, and is produced by an aerial survey performed concurrently with the activity.

3. The apparatus (1400) of claim 1, wherein the geospatial data produced by the aerial survey of the ground area comprises a point cloud of lidar data collected during the aerial survey and georegistered to the ground area.

4. The apparatus (1400) of claim 1, wherein the analysis is performed (1304) to produce the terrain data describing the ground area according to the plurality of terrain metrics comprising elevation, roughness, slope, vegetation density, or a plurality from a viewshed of points of interest.

5. The apparatus (1400) of claim 1, wherein the terrain data comprises a terrain data set for a respective terrain metric of the plurality of terrain metrics, and the apparatus caused to weight (1306) the terrain data comprises the apparatus caused to weight (1314) the terrain data sets, different ones of the terrain data sets being differentially weighted based on constraints of the one or more ground vehicles, and wherein the apparatus caused to construct (1308) the map comprises the apparatus caused to aggregate (1316) the weighted terrain data sets, and the apparatus to construct the map from the aggregated terrain data sets.

6. The device (1400) of any of claims 1-5, wherein the analysis is performed (1304) on the multi-layer spatial coincidence matrix to produce the terrain data, the terrain data including a terrain data set for a respective terrain metric of the plurality of terrain metrics.

7. The device (1400) of claim 6, wherein the terrain data further has a dot-matrix data structure, the dot-matrix data structure having a second spatial coincidence matrix of a second multi-layer of respective terrain data sets in the terrain data set, and wherein the device caused to weight (1306) the terrain data includes a device caused to weight (1318) the second spatial coincidence matrix, and the device caused to construct (1308) the map includes a device caused to construct (1320) a raster image of the ground area from the weighted second spatial coincidence matrix.

8. The device (1400) of claim 1, wherein the device caused to search (1310) the map includes a device caused to search (1322) the map to find the path that best fits the criteria according to the priority order.

9. The device (1400) of claim 1, wherein the terrain data is weighted (1306) based on the priority order of criteria for the mission, the criteria for the mission including a plurality of traversability, speed, fuel efficiency, concealment, or wireless communication range for the one or more ground vehicles.

10. A method (1300) of supporting one or more ground vehicles to perform a mission including traversing a ground area, the method comprising: accessing (1302) geospatial data produced from an aerial survey of the ground area; performing (1304) an analysis of the geospatial data to produce terrain data describing the ground area according to a plurality of terrain metrics; weighting (1306) the terrain data based on a priority order of criteria for the mission and constraints of the one or more ground vehicles; constructing (1308) a map of the ground area, wherein the ground area is represented as a geospatial mapping array of the weighted terrain data; searching (1310) the map for a path that meets the criteria for the mission, the path described by a series of waypoints defining a route through the ground area; and outputting (1312) an indication of the route for the one or more ground vehicles to traverse during the mission; wherein the geospatial data includes a raster image of the ground area, the raster image having a dot-matrix data structure, the dot-matrix data structure having a multi-layer spatial coincidence matrix of the geospatial data, and the analysis is performed on the multi-layer spatial coincidence matrix to produce the terrain data, the terrain data including a terrain data set for a respective terrain metric of the plurality of terrain metrics.

11. The method (1300) of claim 10, wherein the geospatial data is accessed (1302) during planning of an activity of the mission, and is produced by the aerial survey performed concurrently with the activity.

12. The method (1300) of claim 10, wherein the geospatial data produced by the aerial survey of the ground area includes a point cloud of lidar data georeferenced to the ground area and collected during the aerial survey.

13. The method of any one of claims 10 to 12, wherein the analysis is performed to produce the terrain data describing the terrain of the ground area according to a plurality of terrain metrics, the terrain metrics including elevation, roughness, slope, vegetation density, or a plurality from a viewshed of points of interest.

14. The method of any one of claims 10 to 12, wherein the terrain data includes terrain data sets for respective terrain metrics of the plurality of terrain metrics, and weighting the terrain data includes weighting the terrain data sets, different ones of the terrain data sets being differentially weighted based on constraints of the one or more ground vehicles, and wherein constructing the map includes aggregating the weighted terrain data sets, and constructing the map from the aggregated terrain data sets.

15. The method of any one of claims 10 to 12, wherein the terrain data further has a point cloud data structure having a second spatial coincidence matrix of a second plurality of respective terrain data sets of the terrain data sets, and wherein weighting the terrain data includes weighting the second spatial coincidence matrix, and constructing the map includes constructing a raster image of the ground area from the weighted second spatial coincidence matrix.

16. The method of any one of claims 10 to 12, wherein searching the map includes searching the map to find a path that best fits the criteria according to the priority order.

17. The method of any one of claims 10 to 12, wherein the terrain data is weighted based on a priority order of criteria of the mission, the criteria of the mission including a plurality of traversability, speed, fuel efficiency, concealment, or wireless communication range for the one or more ground vehicles.

18. A computer readable storage medium for supporting one or more ground vehicles performing a mission including traversing a ground area, the computer readable storage medium being non-transitory and having computer readable program code stored therein, the computer readable program code in response to execution by processing circuitry causing an apparatus to at least: access geospatial data produced by an aerial survey of the ground area, wherein the geospatial data includes a raster image of the ground area, the raster image having a point cloud data structure having a spatial coincidence matrix of a plurality of layers of the geospatial data; perform an analysis of the geospatial data to produce terrain data describing the ground area according to a plurality of terrain metrics; ​ ​ weighting the terrain data based on the constraints of the one or more ground vehicles, and a priority order of the criteria of the mission; constructing a map of the ground area, wherein the ground area is represented as a geospatial mapping array of the weighted terrain data; searching the map for a path that satisfies the criteria of the mission, the path described by a series of waypoints that define a route through the ground area; and outputting an indication of the route to be traversed by the one or more ground vehicles during the mission.

19. The computer-readable storage medium of claim 18, wherein the geospatial data is accessed during planning of an activity of the mission, and is produced by an aerial survey performed concurrently with the activity.

20. The computer-readable storage medium of claim 18 or claim 19, wherein the geospatial data produced from the aerial survey of the ground area includes a point cloud of lidar data collected during the aerial survey georeferenced to the ground area.

21. The computer-readable storage medium of claim 18 or claim 19, wherein the analysis is performed to produce the terrain data, the terrain data describing the ground area according to a plurality of terrain metrics, the terrain metrics including elevation, roughness, slope, vegetation density, or visibility from points of interest.

22. The computer-readable storage medium of claim 18 or claim 19, wherein the terrain data includes terrain data sets for respective ones of the plurality of terrain metrics, and the device caused to weight the terrain data includes a device caused to weight the terrain data sets, different ones of the terrain data sets being weighted differently based on the constraints of the one or more ground vehicles, and wherein the device caused to construct the map includes a device caused to aggregate the weighted terrain data sets, and construct the map from the aggregated terrain data sets.

23. The computer-readable storage medium of claim 18 or claim 19, wherein the analysis is performed on the multi-layer spatial coincidence matrix to produce the terrain data, the terrain data including terrain data sets for respective ones of the plurality of terrain metrics.

24. The computer-readable storage medium of claim 23, wherein the terrain data further has a point lattice data structure having a second multi-layer spatial coincidence matrix of the respective ones of the terrain data sets, and wherein the device caused to weight the terrain data includes a device caused to weight the second spatial coincidence matrix, and the device caused to construct the map includes a device caused to construct a raster image of the ground area from the weighted second spatial coincidence matrix.

25. The computer-readable storage medium of claim 18 or claim 19, wherein the device caused to search the map includes a device caused to search the map to find a path that most closely fits the criteria according to the priority order.

26. The computer-readable storage medium of claim 18 or claim 19, wherein the terrain data is weighted based on a prioritized order of criteria for the mission, the mission criteria including a plurality of one or more of traversability, speed, fuel efficiency, concealment, or wireless communication range for the one or more ground vehicles.

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