Abstract: A VTOL UAV comprising a chassis, a propulsion system mounted on the chassis, electronics including a flight control system, and a 3D LIDAR sensor mounted on the chassis. The 3D LIDAR sensor has a laser beam 360° rotation axis (R) and an azimuthal scanning angle (?) in a range of 70° to 110°. The propulsion system comprises a plurality of propellers with motors configured for flight without wings, including static hovering flight, the VTOL UAV comprising a yaw axis (Z) about which it can rotate upon itself. The 3D LIDAR sensor is statically mounted on the chassis such that the LIDAR laser beam 360° rotation axis (R) is inclined at a LIDAR inclination angle (?) with respect to the yaw axis (Z) in a range of 35° to 50°.

Abstract: An unmanned aerial vehicle for non-destructive testing includes: an outer protective cage, a propulsion system mounted inside the outer protective cage and fixed thereto, an arm having a first end attached to the outer protective cage, and a non-destructive testing sensor mounted at a second end of the arm. The arm extends outward from the outer protective cage, the arm having a length between 1 and 50 percent of an overall linear dimension of the outer protective cage.

Abstract: An unmanned aerial vehicle comprising an outer protective cage, a propulsion system mounted inside the outer protective cage, a sensor support system fixed on the outer protective cage and a sensor system coupled to the sensor support system. The sensor system is coupled to the sensor support system via a load-limiting coupling mechanism that comprises a spring coupling exerting an elastic bias against the sensor system towards a normal operating position, the sensor system being retractable into the outer protective cage against the elastic bias of the spring coupling upon collision with an external object.

Abstract: An unmanned aerial vehicle for non-destructive testing includes: an outer protective cage, a propulsion system mounted inside the outer protective cage and fixed thereto, an arm having a first end attached to the outer protective cage, and a non-destructive testing sensor mounted at a second end of the arm. The arm extends outward from the outer protective cage, the arm having a length between 1 and 50 percent of an overall linear dimension of the outer protective cage.

Abstract: Vertical take off and landing unmanned aerial vehicle (UAV) comprising a multi-propeller propulsion system (“the system”), an outer protective cage surrounding the system, an autonomous power source, a sensing system, and a control system. The sensing system has an orientation sensor and a displacement sensor. The system has at least two propellers spaced apart in a non-coaxial manner. The control system controls the flight or hovering of the UAV. The control system reverses thrust on at least one propeller distal from a point of contact with an obstacle while controlling a motor of a proximal propeller from the contact point to generate lift, the thrust of the distal and proximal propellers being controlled to exert lift on the UAV to counteract gravitational force thereon and apply a moment of rotation about the point of contact to stabilize the position of the UAV or to counteract torque resulting from inertia.

Abstract: Unmanned aerial vehicle (UAV) including an inner frame, an inner flight propulsion system mounted on the inner frame, an outer frame, a gimbal system comprising at least two rotational couplings coupling the inner propulsion system to the outer frame, a control system, a power source, and an outer frame actuation system configured to actively orient the outer frame with respect to the inner frame.

Abstract: Unmanned aerial vehicle (UAV) including a flight propulsion system and a support system coupled to the flight propulsion system, the support system comprising a protective outer cage configured to surround the flight propulsion system, wherein the outer cage comprises a plurality of cage frame modules that are manufactured as separate components and assembled together to form at least a portion of the outer cage configured to surround the flight propulsion system.