Abstract: Examples include an apparatus for delivering a payload. The apparatus includes a first autonomous vehicle and a second autonomous vehicle that are configured to be coupled to an aircraft. The first autonomous vehicle includes a wing and a first propulsion system configured to deliver the second autonomous vehicle to a first destination. The second autonomous vehicle includes a payload and a second propulsion system configured to deliver the payload to a second destination.

Abstract: A method includes receiving a first image that is captured at a first time. The method also includes detecting a location of a first object in the first image. The method also includes determining a region of interest based at least partially upon the location of the first object in the first image. The method also includes receiving a second image that is captured at a second time. The method also includes identifying the region of interest in the second image. The method also includes detecting a location of a second object in a portion of the second image that is outside of the region of interest.

Abstract: A system of connectable aerial vehicles. The system includes a plurality of aerial vehicles that each include a platform, one or more rotors operatively connected to the platform, and a power source that supplies power to the one or more rotors. The plurality of aerial vehicles are configured to operate in air, and operate in water while connected to form a floating platform. The floating platform is configured to support an object with at least a portion of each of the plurality of aerial vehicles configured to form a segment of the floating platform.

Abstract: A propeller assembly including a shaft having a rotational axis; a plurality of propellers connected to the shaft; means for deploying the plurality of propellers using a centrifugal force generated from a rotation of the shaft, so as to provide vertical thrust during a vertical take-off and landing of the aircraft; and means for restoring the propellers into a stowed configuration.

Abstract: A method, apparatus, system, and computer program product for planning multimodal travel. A planning request for the multimodal travel from a first location to an second location is received. Candidate routes are determined for a passenger that is customized for a set of customization parameters a using the first location, the second location, and a set of passenger preferences. A candidate route in the candidate routes comprises a first leg from the first location to a first vertiport via a first modality, a second leg for a passenger air vehicle to travel from the first vertiport to a second vertiport using an air modality, and a third leg from the second vertiport to the second location using a second modality. The candidate route in the candidate routes is selected to form a route for the multimodal travel for the passenger when a user input is received selecting the candidate route.

Abstract: A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing or determining trajectories of the robot and a nearby moving object forward in time from their respective current positions, and detecting a conflict from a comparison of the trajectories. The method includes selecting a maneuver to avoid the conflict, and outputting an indication of the maneuver for use in at least one of guidance, navigation or control of the robot to avoid the conflict. Selection of the maneuver includes determining a plurality of angles that describe the conflict such as those at which the robot and moving object observe one another, and/or an angle between their trajectories, and evaluating the plurality of angles to select the maneuver.

Abstract: A method includes identifying a first image that is captured at a first time. The method also includes segmenting the first image into a plurality of first image portions. The method also includes identifying a second image that is captured at a second time. The method also includes segmenting the second image into a plurality of second image portions. The method also includes comparing one of the plurality of first image portions and a corresponding one of the plurality of second image portions. The method also includes determining a difference between the first image and the second image based at least partially upon the comparison. The method also includes transforming the first image into a transformed first image based at least partially upon the difference.

Abstract: A method includes receiving a first image. The method also includes detecting a plurality of edges in the first image. The method also includes connecting the edges. The method also includes identifying a contour in the first image based at least partially upon the connected edges. The method also includes determining a convex hull of the contour. The method also includes generating a second image comprising the convex hull.

Abstract: An example method includes identifying a degraded visual environment corresponding to a phase of a route followed by the vehicle. The method includes determining, based on the phase of the route, a first segment of a trajectory of the vehicle along which to search for a location with an improved navigation environment. The method includes causing the vehicle to follow the first segment until: (i) identifying the improved navigation environment, or (ii) reaching an end of the first segment without identifying the improved navigation environment. The method includes determining a second segment of the trajectory based on whether the improved navigation environment has been identified. The method includes causing the vehicle to follow the second segment.

Abstract: In one example, a method of operating a plurality of aerial vehicles in an environment includes receiving, at a first command module of a first aerial vehicle navigating along a first flight path, sensor data from one or more sensors on board the first aerial vehicle. The sensor data reflects one or more characteristics of the environment. The method further includes determining, via the first command module, a change from a predetermined formation to a different formation for a second aerial vehicle based at least in part on the sensor data, where the predetermined formation and the different formation are relative to the first aerial vehicle. The method also including generating, via the first command module, control signals reflecting the change from the predetermined formation to the different formation and sending the control signals from the first aerial vehicle to the second aerial vehicle.

Abstract: In an example, a propulsion system for controlling maneuvers of a tilt rotor aircraft includes one or more processors and a non-transitory computer readable medium storing instructions that, when executed by the one or more processors, cause the propulsion system to perform functions. The functions include making a determination that changing an orientation of the tilt rotor aircraft is necessary to perform an instructed flight maneuver. The functions also include causing, in response to the determination, a rotor of the tilt rotor aircraft to provide a thrust, thereby applying a torque to the tilt rotor aircraft that changes the orientation of the tilt rotor aircraft.

Abstract: An example of the present disclosure provides a stereo camera assembly of an object tracking system. The stereo camera assembly comprises a wide-angle lens camera mounted on a mounting structure and a telephoto lens camera mounted on the mounting structure such that a field of view of the telephoto lens camera is at least partially encompassed by a field of view of the wide-angle lens camera.

Abstract: An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list.

Abstract: Spring-integrated rotors are disclosed. A disclosed example apparatus includes a bracket defining a first rotational axis and coupled to a motor for rotating the bracket about the first rotational axis, a pivot body defining a second rotational axis extending along a direction different than the first rotational axis, the pivot body coupled to the bracket for rotation about the second rotational axis, and at least one spring device positioned at the bracket, the at least one spring device urging the pivot body toward a central position when the bracket is rotating.

Abstract: A method, an apparatus, system, and computer program product for navigating an aircraft. Information indicative of a result of a scan of an environment around the aircraft is received by a computer system for landmarks. Bearings of the landmarks and locations of the landmarks are determined by the computer system. A current position of the aircraft is estimated by the computer system using the bearings of the landmarks and the locations of the landmarks. A set of actions to be performed is determined to guide the aircraft based on the current position of the aircraft is performed by the computer system.

Abstract: A method and corresponding apparatus and computer-readable storage medium are provided for causing one or more robots to execute a mission. The method includes identifying the mission including a nominal sequence of selected tasks that are executable to cause the one or more robots to execute maneuvers to achieve a mission objective. The method includes determining a task graph in which the mission is modeled. The task graph is expressed as a directed graph and includes selected task nodes representing the selected tasks that are connected by edges representing transitions between the selected tasks. The method also includes causing the one or more robots to execute the mission using the task graph and a task library of tasks including a selected task executable to cause the one or more robots to execute a maneuver.

Abstract: An apparatus is provided that includes a string of power sources and step-down circuitry. The power sources are connected in series to provide a first voltage rail at a first voltage, and the string of power sources is divided into power-source segments. The step-down circuitry electrically is configured to provide a second voltage rail at a second, lesser voltage. The step-down circuitry includes control circuitry configured to monitor states of charge of the power-source segments, and control selection of one of the power-source segments to deliver an output from which the second voltage rail is provided, based on the states of charge. One or more first electronic components are electrically coupled to the first voltage rail, and designed to operate at the first voltage. And one or more second electronic components are electrically coupled to the second voltage rail, and designed to operate at the second voltage.

Abstract: Methods and apparatus are disclosed for deployable wing portions of an aircraft. An example method of deploying an aircraft includes separating the aircraft from a launch vehicle, the aircraft having a wing pivotably coupled to a fuselage, rotating, about an axis of rotation, the wing relative to the fuselage from a first rotational orientation to a second rotational orientation different from the first rotational orientation, wherein, in the first rotational orientation, the wing extends along a direction that substantially aligns with a longitudinal axis of the fuselage, and extending the wing in a lateral direction away from the fuselage in the second rotational orientation.

Abstract: Aircraft and related methods are disclosed. In one example, an aircraft comprises an airframe comprising one or more wings, one or more pusher rotors supported by the airframe, and one or more puller rotors supported by the airframe, wherein the one or more puller rotors are positioned behind the one or more pusher rotors. In another example, a method for loading cargo on to an aircraft comprises loading cargo into a fuselage of the aircraft through an upper forward portion of the fuselage.