Abstract: Technology for generating and displaying a graphical user interface for operating an unmanned aerial vehicle (UAV) is disclosed herein that generates and updates a representation of a spline flight path. In various implementations, a graphical user interface detects user interactions with a remote control device directing the flight control subsystem of the UAV to record keyframes and to compute a spline based on the keyframes during flight. The graphical user interface displays a real-time perspective of the UAV with a representation of the spline and the keyframes overlaying the view. The graphical user interface continually updates the representation as the UAV flies and when the spline is updated as the keyframes are updated.

Abstract: A technique is introduced for touchdown detection during autonomous landing by an aerial vehicle. In some embodiments, the introduced technique includes processing perception inputs with a dynamics model of the aerial vehicle to estimate the external forces and/or torques acting on the aerial vehicle. The estimated external forces and/or torques are continually monitored while the aerial vehicle is landing to determine when the aerial vehicle is sufficiently supported by a landing surface. In some embodiments, semantic information associated with objects in the environment is utilized to configure parameters associated with the touchdown detection process.

Abstract: Disclosed here are airframe component assemblies including example embodiments with a root connected to an aircraft fuselage, a free section with a connection portion with holes, a slidable attachment section formed to fit between the root and the free section, and an elastomeric retention device coupled to the root and the slidable attachment section, the elastomeric retention device configured to exert a force to pull the slidable attachment toward the root.

Abstract: Autonomous aerial navigation in low-light and no-light conditions includes using night mode obstacle avoidance intelligence and mechanisms for vision-based unmanned aerial vehicle (UAV) navigation to enable autonomous flight operations of a UAV in low-light and no-light environments using infrared data.

Abstract: In some implementations, a UAV flight system can dynamically adjust UAV flight operations based on thermal sensor data. For example, the flight system can determine an initial flight plan for inspecting a flare stack and configure a UAV to perform an aerial inspection of the flare stack. Once airborne, the UAV can collect thermal sensor data and the flight system can automatically adjust the flight plan to avoid thermal damage to the UAV based on the thermal sensor data.

Abstract: Methods, systems and apparatus, including computer programs encoded on computer storage media for an unmanned aerial vehicle (UAV) wind turbine inspection system. One of the methods includes obtaining first sensor information by an unmanned aerial vehicle (UAV), the first sensor information describing physical aspects of a wind turbine, including one or more blades of the wind turbine. An orientation of the blades of the wind turbine are determined based on the obtained first sensor information. A flight pattern for the UAV to inspect the blades of the wind turbine is determined, the flight pattern being based on the determined orientation of the blades. Each of the blades of the wind turbine is inspected by the UAV according to the determined flight pattern, the inspection including obtaining second sensor information describing the blades of the wind turbine.

Abstract: A modular vehicle management system is described, comprising a controller module configured to control different types of carrier modules. The controller module includes a computer system and optionally one or more sensors. The computer system is configured to perform operations comprising detecting whether a carrier module is connected to the controller module. If the carrier module is connected to the controller module, the carrier module is authenticated. If the authentication fails, operation of the vehicle is inhibited. The control module is configured to determine carrier module capabilities including information regarding a navigation processing device, and/or a radio modem. The controller adapts to the capabilities of the controller module. Using information from the sensors and the navigation processing device, the vehicle management system navigates the vehicle.

Abstract: An actuator is introduced that utilizes the forces that result from placing a current carrying coil in a magnetic field to rotate a connected object about at least one axis. In some embodiments, the introduced coil actuator includes a coil of conductor coupled to an arm or other type of structural element that extends radially from an axis of rotation. The introduced coil actuator can be utilized to provide motion control in a variety of different applications such as gimbal mechanisms. In some embodiments, the introduced coil actuator can be implemented in a gimbal mechanism for adjusting an orientation of a device such as a camera relative to a connected platform such as the body of an aerial vehicle.

Abstract: Technology for operating an unmanned aerial vehicle (UAV) is disclosed herein that allows a drone to be flown along a computed spline, while also accommodating in-flight modifications. In various implementations, a UAV includes a flight control subsystem and an electromechanical subsystem. The flight control subsystem records keyframes during flight and computes a spline based on the keyframes. The flight control subsystem then saves the computed spline for playback, at which time the UAV automatically flies in accordance with the computed spline.

Abstract: Disclosed in this specification are methods, systems and apparatus, including computer programs encoded on non-transitory computer storage media for unmanned aerial vehicle (UAV) flight operation and privacy controls. Based on geofence types, and UAV distance from a geofence, sensors and other devices connected to a UAV are conditionally operational. Image data collected during a UAV flight may be obfuscated by the UAV while in flight, or via a post-flight process using log data generated by the UAV.

Abstract: An unmanned aerial vehicle (UAV) system includes one or more processors and one or more computer storage media storing instructions that when executed by the one or more processors, cause the one or more processors to perform operations that include obtaining flight information of the UAV; determining one or more modifications based on the flight information; and transmitting data messages over data buses based on the one or more modifications.

Abstract: A system including a noise analyzer, a filter, and a memory. The noise analyzer configured to review a captured audio signal, wherein the captured audio signal comprises baseline noise parameters and clean audio. The filter configured to remove the baseline noise parameters from the captured audio signal so that the clean audio is free of the baseline noise parameters. The memory stores the clean audio.

Abstract: Autonomous aerial navigation in low-light and no-light conditions includes using night mode obstacle avoidance intelligence, training, and mechanisms for vision-based unmanned aerial vehicle (UAV) navigation to enable autonomous flight operations of a UAV in low-light and no-light environments using infrared data.

Abstract: A base station is disclosed for an unmanned aerial vehicle (UAV) that includes: an enclosure defining a window that is configured to receive the UAV to allow for entry of the UAV into the base station and exit of the UAV from the base station; a door that is movably connected to the enclosure such that the door is repositionable between a closed position and an open position; a sealing member that extends about the window and which is configured for engagement with the door so as to form a seal therewith in the closed position; and a heating system that is supported by the enclosure and which is configured to heat the door and/or the sealing member to support operation (e.g., opening and closure) of the door in a cold environment, wherein the heating system includes at least one light source and at least one heating element.

Abstract: A property is identified for inspection based on a determination of a weather event impacting the property. A flight plan usable by an unmanned aerial vehicle (UAV) in identifying an extent of damage to the property caused by the weather event is determined. A user interface is presented at a user device. The user interface includes user interface controls configured for toggling layers of the user interface. The layers include a first layer that includes a geofence, a second layer that includes an inspection area of the property, a third layer that includes one of a launch location or a landing location of the UAV, and a fourth layer that includes a base map layer of an area that includes the property. A modification to the flight plan is received via the user interface.

Abstract: Methods, systems and apparatus, including computer programs encoded on computer storage media for unmanned aerial vehicle flight for performing an inspection of land, property, structures or other objects. Automated aerial surveys allow a UAV to obtain aerial data without human manual control of a UAV. For certain aerial surveys, a UAV is not capable of completing the survey without refueling, or exchanging out used batteries for fresh batteries. For such aerial surveys, a method and system is needed to allow an operator to automatically perform an aerial survey while determining battery usage and replacement. Also, in circumstances where manual control of the UAV is needed, contingency-based software controls may be needed.

Abstract: An introduced autonomous aerial vehicle can include multiple cameras for capturing images of a surrounding physical environment that are utilized for motion planning by an autonomous navigation system. In some embodiments, the cameras can be integrated into one or more rotor assemblies that house powered rotors to free up space within the body of the aerial vehicle. In an example embodiment, an aerial vehicle includes multiple upward-facing cameras and multiple downward-facing cameras with overlapping fields of view to enable stereoscopic computer vision in a plurality of directions around the aerial vehicle. Similar camera arrangements can also be implemented in fixed-wing aerial vehicles.

Abstract: Described herein are systems for the production, communication, routing, service, authentication, and consumption of cryptographically authenticable contextual content produced by cryptographically authenticable devices; example implementations of the architecture for a Trusted Contextual Content Device which produces Trusted Contextual Content; and example implementations of the architecture for a Trusted Drone Device which produces Trusted Contextual Content. For example, some of the methods used may include accessing a first set of sensor data from one or more sensors; receiving, a first trusted contextual content that includes a first digital signature; generating a data structure including the first trusted contextual content and data based on the first set of sensor data; signing the data structure using a signing key to generate a second trusted contextual content including a second digital signature; and storing or transmitting the second trusted contextual content.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for unmanned aerial vehicle authorization and geofence envelope determination. One of the methods includes determining, by an electronic system in an Unmanned Aerial Vehicle (UAV), an estimated fuel remaining in the UAV. An estimated fuel consumption of the UAV is determined. Estimated information associated with wind affecting the UAV is determined using information obtained from sensors included in the UAV. Estimated flights times remaining for a current path, and one or more alternative flight paths, are determined using the determined estimated fuel remaining, determined estimated fuel consumption, determined information associated wind, and information describing each flight path. In response to the electronic system determining that the estimated fuel remaining, after completion of the current flight path, would be below a first threshold, an alternative flight path is selected.

Abstract: An unmanned aerial vehicle including a propeller blade and a central hub. The propeller blade includes a hole, and a connector located at a root of the propeller blade, the connector including a projection and a shoulder. The central hub includes an opening configured to receive the projection; a portion of a face, wherein the shoulder engages with the portion of the face in a first rotational position of the propeller blade and holes. The holes of the propeller blade and the central hub are concentric so that the propeller blade is movably connected to the central hub via the holes.