Abstract: Aspects of the disclosure relate to identifying and responding to problem conditions for a fleet of aerial vehicles. This may include receiving at one or more processors of one or more server computing devices sensor feedback from an AV of the fleet. A problem condition may be identified using the sensor feedback. A mitigation response for the problem condition relating to a mission assigned to the aerial vehicle may be determined. The mitigation response may be sent to the AV in order to cause the aerial vehicle to maneuver according to the mitigation response and thereby automatically respond to the problem condition.

Abstract: A landing pad for an unmanned aerial vehicle (“UAV”) is disclosed. The landing pad includes a support structure, a charging pad, and a plurality of movable UAV supports. The charging pad is coupled to the support structure and able to move relative to the support structure. The UAV supports are also coupled to the support structure and configured to translate along the support structure from a first position to a second position. When the UAV supports are in the first position, the charging pad supports the UAV. When the UAV supports are in the second position, the charging pad is lowered and the UAV supports then provide support to the UAV.

Abstract: A payload coupling apparatus is provided including a housing, wherein the housing is adapted for attachment to a first end of a tether, a slot extending downwardly from an outer surface of the housing towards a center of the housing thereby forming a lower lip on the housing beneath the slot, and wherein the slot is adapted to receive a handle of a payload.

Abstract: A propeller blade for an unmanned aerial vehicle (“UAV”) is disclosed. The UAV includes a plurality of lift propellers and at least one thrust propeller. Each of the plurality of thrust propellers includes a thrust propeller blade coupled to a hub of the thrust propeller. The thrust propeller blade is configured such that a centrifugal force acting on the thrust propeller blade causes a thrust propeller disk area to increase from a first disk area when the UAV is in a first operational state to a second disk area when the UAV is in a second operational state.

Abstract: Example methods, systems, and articles of manufacture may relate to an aerial vehicle. The methods, systems, and articles of manufacture may include receiving an audio signal with a microphone of the aerial vehicle. The methods, systems, and articles of manufacture may also include processing the audio signal to determine at least one of a distance and type of aircraft located near the aerial vehicle. Additionally, the methods, systems, and articles of manufacture may include, based on the determination, performing at least one maneuver of the aerial vehicle.

Abstract: Described is a method that involves operating an unmanned aerial vehicle (UAV) to begin a flight, where the UAV relies on a navigation system to navigate to a destination. During the flight, the method involves operating a camera to capture images of the UAV's environment, and analyzing the images to detect features in the environment. The method also involves establishing a correlation between features detected in different images, and using location information from the navigation system to localize a feature detected in different images. Further, the method involves generating a flight log that includes the localized feature. Also, the method involves detecting a failure involving the navigation system, and responsively operating the camera to capture a post-failure image. The method also involves identifying one or more features in the post-failure image, and determining a location of the UAV based on a relationship between an identified feature and a localized feature.

Abstract: Example implementations may relate to self-deployment of operational infrastructure by an unmanned aerial vehicle (UAV). Specifically, a control system may determine operational location(s) from which a group of UAVs is to provide aerial transport services in a geographic area. For at least a first of the operational location(s), the system may cause a first UAV from the group to perform an infrastructure deployment task that includes (i) a flight from a source location to the first operational location and (ii) installation of operational infrastructure at the first operational location by the first UAV. In turn, this may enable the first UAV to operate from the first operational location, as the first UAV can charge a battery of the first UAV using the operational infrastructure installed at the first operational location and/or can carry out item transport task(s) at location(s) that are in the vicinity of the first operational location.

Abstract: In some embodiments, techniques are provided for verifying operability of an automatic dependent surveillance-broadcast (ADS-B) receiver included in a first unmanned aerial vehicle (UAV), which includes receiving ADS-B data representative of ADS-B messages broadcast by traffic within a reception range of the ADS-B receiver during a first period of time, estimating a traffic environment for a service area spanning, at least in part, a first operating area of the first UAV during the first period of time, determining an expected observed traffic of the first UAV during the first period of time based on the estimated traffic environment, and verifying operability of the ADS-B receiver of the first UAV based on a comparison between the expected observed traffic of the first UAV and the traffic associated with the ADS-B data received by the ADS-B receiver of the first UAV.

Abstract: Controlling a vehicle according to a trained neural network model capable of being used to generate an output from which one or more vehicle operating variables can be estimated. The neural network model can be used to process, as input, aggregated data corresponding to operational and/or environmental characteristics experienced by the vehicle during at least a portion of a voyage. The aggregated data can include a range of values collected over a period of time when the vehicle is traversing the portion of the voyage. The output generated by the neural network model, based on processing the input, can be further processed in order to determine, for example, an estimated state of charge and/or an estimated remaining flight time for the vehicle. Such estimated values can thereafter be used by a controller of the vehicle to maintain course or maneuver to a charging station.

Abstract: A technique for detecting an environmental change to a delivery zone via an unmanned aerial vehicle includes obtaining an anchor image and an evaluation image, each representative of the delivery zone, providing the anchor image and the evaluation image to a machine learning model to determine an embedding score associated with a distance between representations of the anchor image and the evaluation image within an embedding space, and determining an occurrence of the environmental change to the delivery zone when the embedding score is greater than a threshold value.

Abstract: A payload loading system is disclosed. The payload loading system includes a UAV and a loading structure. A retractable tether is coupled to a payload coupling apparatus at a distal end and the UAV at a proximate end. A payload is loaded to the UAV by coupling the payload to the payload coupling apparatus. The loading structure of the payload loading system includes a landing platform and a tether guide. The tether guide is coupled to the landing platform and directs the tether as the UAV approaches and travels across at least a portion of the landing platform such that the payload coupling apparatus arrives at a target location. The payload is loaded to the payload coupling apparatus while the payload coupling apparatus is within the target location.

Abstract: A method includes determining a threshold capacity associated with at least a first unmanned aerial vehicle (UAV) and a second UAV. The method includes initially setting a target charge voltage of a first battery of the first UAV to less than a full charge voltage to limit a state of charge of the first battery based on the threshold capacity. The method includes, over a lifetime of the first battery of the first UAV, periodically comparing a full charge capacity of the first battery to the threshold capacity. The method includes, based on the comparing, periodically adjusting the target charge voltage of the first battery, such that, as the full charge capacity of the first battery decreases with age, the target charge voltage increases towards the full charge voltage of the first battery.

Abstract: An apparatus for visual navigation of a UAV includes a geo-fiducial mat and a plurality of geo-fiducials. The geo-fiducial mat includes a landing pad region that provides a location for aligning with a landing pad of a UAV and a survey point. The geo-fiducials are each specified for a unique directional and offset position in or about the landing pad region relative to the survey point. The geo-fiducials each includes a two-dimensional (2D) pattern that visually conveys an alphanumerical code. The 2D pattern has a shape from which a visual navigation system of the UAV can visually triangulate a position of the UAV.

Abstract: A technique for controlling an unmanned aerial vehicle (UAV) includes monitoring a sensed airspeed of the UAV, obtaining a commanded speed for the UAV, wherein the commanded speed representing a command to fly the UAV at a given speed relative to an airmass or to Earth, and when the commanded speed is greater than the sensed airspeed, using the commanded speed in lieu of the sensed airspeed to inform flight control decisions of the UAV.

Abstract: Described is a system comprising (a) a UAS registry including a plurality of UAS accounts, (b) a plurality of UAS registration computing systems operable to create UAS accounts for the UAS registry, (c) a plurality of USS computing systems that each provide service to one of a plurality of service areas within an airspace, wherein each USS computing system is operable to: (i) receive, from UAS operators, operation data for UASs operating in the service area served by the USS computing system, (ii) receive, from the other USS computing systems for the airspace, operation data for UASs operating in the other service areas served the other USS computing systems, (iii) combine the operation data received from the UAS operators, with the operation data received from the other USS computing systems, to maintain an airspace-wide UAS database, and (iv) provide a publicly accessible application interface based on the UAS database.

Abstract: A technique for validating a balcony to receive delivery of a parcel via a UAV includes obtaining a first identification of a general location of the balcony; generating a first image representing a building including the balcony where the first image is selected based upon the location identified; obtaining a second identification or a confirmation of a precise location of the balcony in the building where the second identification or the confirmation are received in response to an end-user interaction with the first image; determining a deliverability score based at least in part on the precise location of the balcony; and indicating an enrollment status to the end-user where the enrollment status is generated based upon the deliverability score.

Abstract: A payload coupling apparatus is provided that includes a housing having an upper portion, a lower portion, and a side wall positioned between the upper and lower portions, an attachment point on the housing adapted for attachment to a first end of a tether, a slot in the housing that extends downwardly towards a center of the housing thereby forming a hook or lip on the lower portion of the housing beneath the slot, a plurality of holes in the upper portion of the housing; and a plurality of holes in the lower portion of the housing. A method of retracting a payload coupling apparatus during UAV flight is also provided.

Abstract: An unmanned aerial vehicle system is provided including an unmanned aerial vehicle (UAV) having a fuselage, a tether having a first end secured to a winch system positioned in the UAV and a second end secured to a payload coupling apparatus, a payload coupling apparatus receptacle positioned in the fuselage of the UAV, a payload having a handle, wherein the handle of the payload is positioned within a slot in the payload coupling apparatus. A method of securing a payload to a UAV is also provided.

Abstract: Disclosed herein are methods and systems that can help an aerial transport service provider (ATSP) select an unmanned vehicle (UV) to deliver a temperature-sensitive item. In accordance with example embodiments, the ATSP system can generate a transport task to fulfill a request for delivery of the temperature-sensitive item, where the transport task involves delivering the item while maintaining a temperature of the item within a preferred temperature range. The system can calculate an amount of required energy to perform the transport task for each available UV of the fleet of UVs. Further, based on (i) the amount of required energy for each available UV, and (ii) a respective remaining battery energy level for each available UV, the ATSP system can select a first UV to perform the task. Yet further, the ATSP system can assign the transport task to the first UV.