US Patent 10464669 Unmanned aerial vehicle collision avoidance system

A system for collision avoidance includes memory storing instructions which, when executed, cause one or more processors to perform determining a direction of flight of a first drone, causing broadcasting, in the direction of flight based, a beamformed signal of beacon frames, determining a new flight direction of the same first drone, in response to the new flight direction, causing broadcasting of the beacon frames in the new flight direction, detecting second beacon frames from a second drone associated with a direction from which the second beacon frames are arriving; in response, causing the first drone to perform, without input from a pilot, one or more of a change in elevation, heading, speed, or type of operation, directed toward causing the first drone to follow a flight path that is separated from the second drone.