1. A method for implementing a retrotraverse software routine for a remote vehicle configured to communicate with an operator control unit when a control signal from the operator control unit is not received, the method comprising:
executing the retrotraverse software routine, using a processor, including or in communication with a waypoint routine that maintains a list of time-stamped waypoints stored in a memory to cause the remote vehicle to be navigated according to the retrotraverse software routine, the time-stamped waypoints separated by at least a minimum difference in time and distance, the waypoint routine or the retrotraverse software routine generating a return path interconnecting at least two previously-traversed waypoints in reverse order of timestamps,
wherein the remote vehicle is navigated successively to a next previous time-stamped waypoint in the list until a control signal is received from the operator control unit.
2. The method of claim 1, wherein the executing the retrotraverse software routine comprises automatically executing the retrotraverse software routine when communication with the operator control unit is lost.
3. The method of claim 1, further comprising recording a list of start time and end time pairs for each retrotraverse period of time to obtain a list of previously-performed retrotraverses for at least one of the waypoint routine and the retrotraverse software routine.
4. The method of claim 3, further comprising excluding waypoints recorded during the previously-performed retrotraverses from the retrotraverse software routine.
5. The method of claim 4, wherein excluding waypoints recorded during the previously-performed retrotraverses comprises excluding waypoints recorded between the start time and the end time pairs for each of the previously-performed retrotraverses.
6. The method of claim 3, further comprising excluding waypoints traversed during the previously-performed retrotraverses from the retrotraverse software routine.
7. The method of claim 1, further comprising:
determining a lookahead vector to allow smooth navigation of the remote vehicle along an intended path of travel, and
utilizing a lookahead vector in the retrotraverse software routine.
8. The method of claim 7, wherein the utilizing a lookahead vector comprises only utilizing the lookahead vector in the retrotraverse software routine when the lookahead vector lies within a predetermined distance of each of the waypoints along the intended path of travel.
9. The method of claim 7, further comprising avoiding taking shortcuts that bypass waypoints in the retrotraverse software routine when the lookahead vector is utilized.
10. The method of claim 7, further comprising utilizing a radius of interception in the retrotraverse software routine to determine whether the remote vehicle has reached one of the waypoints when the lookahead vector is utilized.
11. The method of claim 7, further comprising utilizing a perpendicular plane in the retrotraverse software routine to determine whether the remote vehicle has passed one of the waypoints when the lookahead vector is utilized.
12. The method of claim 1, further comprising navigating the remote vehicle along the return path according to the retrotraverse software routine.
13. The method of claim 12, wherein the navigating the remote vehicle along the return path comprises selecting a forward or backward direction to navigate the remote vehicle along the return path based on a determination of which direction requires the least rotation.
14. The method of claim 1, further comprising determining a position of the remote vehicle using odometry.
15. The method of claim 14, wherein the determining a position of the remote vehicle comprises using a global positioning system, tying global positioning system data to odometry data, and using a Kalman filter to provide confidence in the position of the remote vehicle based on the odometry data and the global positioning system data.
16. The method of claim 1, further comprising determining a position of the remote vehicle by maintaining a global map and placing coordinates of the remote vehicle within the global map.
17. The method of claim 16, wherein the determining a position of the remote vehicle comprises maintaining a destination point within the global map and adjusting a heading of the remote vehicle to navigate the remote vehicle toward the destination point.
18. The method of claim 1, further comprising determining a position of the remote vehicle by using one or more of a global positioning system or navigation beacon points.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A Bluetooth communication method, the method comprising:
transforming, by a first Bluetooth device, authentication information required to establish a Bluetooth communication connection into an audio signal;
outputting the transformed audio signal via a speaker of the first Bluetooth device;
receiving a Bluetooth communication connection request signal from a second Bluetooth device receiving the transformed audio signal;
transmitting, by the first Bluetooth device, a response signal corresponding to the Bluetooth communication connection request signal to the second Bluetooth device; and
establishing a Bluetooth communication channel with the second Bluetooth device,
wherein the authentication information required to establish a Bluetooth communication technique includes a unique address identifying the first Bluetooth device, and
wherein the outputting of the transformed audio signal is performed when a proximity sensor of the first Bluetooth device senses that the second Bluetooth device is within a certain range of the first Bluetooth device in a transmission mode where contents are transmitted to the second Bluetooth device.
2. The method of claim 1, further comprising:
transmitting, by the first Bluetooth device, contents selected by a user to the second Bluetooth device via the Bluetooth communication channel.
3. The method of claim 2, further comprising:
determining if all contents selected by the user have been transmitted by the first Bluetooth device; and
if it is determined that all contents selected by the user have been transmitted by the first Bluetooth device, terminating the Bluetooth communication channel and displaying an indication that all contents have been transmitted.
4. The method of claim 3, further comprising:
if it is determined that all contents selected by the user have not been transmitted by the first Bluetooth device, displaying a message asking whether to terminate the Bluetooth communication connection with the second Bluetooth device.
5. The method of claim 1, wherein the transmission mode is executed when the user makes a preset motion so that a motion sensor can sense it.
6. The method of claim 1, wherein the transforming of the authentication information into the audio signal further comprises at least one of mixing the transformed audio signal with another sound source signal and applying a masking effect to the transformed audio signal.
7. The method of claim 1, wherein the transmitting, by the first Bluetooth device, of the response signal to the second Bluetooth device comprises determining that the request signal is received within a certain time.
8. The method of claim 1, wherein, after the outputting of the transformed audio signal via the speaker of the first Bluetooth device, the first Bluetooth device receives only the Bluetooth communication request signal from the second Bluetooth device before transmitting the response signal corresponding to the Bluetooth communication request signal.
9. A Bluetooth communication system, the system comprising:
a first Bluetooth device configured to transform authentication information required to establish a Bluetooth communication connection into an audio signal, and configured to output the audio signal; and
a second Bluetooth device configured to receive the audio signal, configured to extract the authentication information from the received audio signal, and configured to establish a Bluetooth communication channel with the first Bluetooth device, using the extracted authentication information,
wherein the authentication information required to establish a Bluetooth communication technique includes a unique address identifying the first Bluetooth device, and
wherein the first Bluetooth device includes a proximity sensor configured to sense that the second Bluetooth device is within a certain range of the first Bluetooth device, and
wherein the first Bluetooth device activates the speaker and transmits the audio signal to the second Bluetooth device upon the proximity sensor sensing that the second Bluetooth device is within the certain range of the first Bluetooth device.
10. The system of claim 9, wherein the first Bluetooth device transmits contents selected by a user to the second Bluetooth device via the Bluetooth communication channel.
11. The system of claim 10, wherein the first Bluetooth device determines if all contents selected by the user have been transmitted, and, if it is determined that all contents selected by the user have been transmitted, terminates the Bluetooth communication channel and displays an indication that all contents have been transmitted.
12. The system of claim 11, wherein the first Bluetooth device, if it is determined that all contents selected by the user have not been transmitted, displays a message asking whether to terminate the Bluetooth communication connection with the second Bluetooth device.
13. The system of claim 9, wherein the first Bluetooth device transforms the authentication information into an audio signal, and broadcasts it in a transmission mode in which contents are transmitted to the second Bluetooth device.
14. The system of claim 9, wherein, when a proximity sensor of the second Bluetooth device senses that the first Bluetooth device is within a certain range of the second Bluetooth device, the second Bluetooth device activates the microphone and receives the audio signal from the first Bluetooth device.
15. The system of claim 9, wherein the first Bluetooth device determines if the request signal is received within a certain time prior to transmitting of the response signal to the second Bluetooth device.
16. The system of claim 9, wherein, after the first Bluetooth device outputs the audio signal, the first Bluetooth device receives only a Bluetooth communication request signal from the second Bluetooth device before the second Bluetooth device establishes the Bluetooth communication channel with the first Bluetooth device.
17. A Bluetooth communication method, the method comprising:
receiving an audio signal transforming authentication information required to establish a Bluetooth communication connection via a microphone;
extracting the authentication information from the received audio signal;
transmitting a Bluetooth communication connection request signal using the extracted authentication information; and
receiving a response signal in response to the Bluetooth communication connection request signal for establishing a Bluetooth communication channel with a Bluetooth device transmitting the response signal,
wherein the authentication information required to establish a Bluetooth communication technique includes a unique address identifying the Bluetooth device and
wherein the receiving of the audio signal comprises:
sensing, by a proximity sensor, that the Bluetooth device transmitting the response signal is within a certain range;
activating the microphone; and
receiving the audio signal via the microphone.
18. The method of claim 17, further comprising receiving at least one content through the Bluetooth communication channel from the Bluetooth device transmitting the response signal.
19. The method of claim 17, wherein, after the extracting of the authentication information, only the Bluetooth communication connection request signal is transmitted before the receiving of the response signal from the Bluetooth device transmitting the response signal.