Abstract: A painting system that makes use of drones such as modified quadrotors. The drone includes a support arm that carries a paint nozzle configured for pan and tilt motion. A power supply line is connected from an external power supply to the drone to allow extended flight time. A paint supply line is also connected from an external paint supply to the drone to allow extended painting time and/or surface coverage with each flight. The drone has an onboard controller so painting is autonomous with no human input being required. The drone stores a 3D model of the target structure annotated with the drone trajectory plus commands to control the pan-tilt paint nozzle to perform the painting. At runtime, the controller uses a sensor to view the target structure and localizes itself. The drone then traverses the stored trajectory and implements the painting commands to paint the 3D structure's surfaces.

Abstract: According to one implementation, a robotic system for performing large-scale environmental mapping in real-time includes a mobile reconnaissance unit having a color sensor, a depth sensor, and a graphics processing unit (GPU) with a GPU memory, and a navigation unit communicatively coupled to the mobile reconnaissance unit and having a central processing unit (CPU) with a CPU memory. The robotic system begins a three-dimensional (3D) scan of an environment of the mobile reconnaissance unit using the color sensor and the depth sensor, and generates mapping data for populating a volumetric representation of the environment. The robotic system continues the 3D scan of the environment using the color sensor and the depth sensor, updates the mapping data, and partitions the volumetric representation between the GPU memory and the CPU memory based on a memory allocation criteria.

Abstract: A painting system that makes use of drones such as modified quadrotors. The drone includes a support arm that carries a paint nozzle configured for pan and tilt motion. A power supply line is connected from an external power supply to the drone to allow extended flight time. A paint supply line is also connected from an external paint supply to the drone to allow extended painting time and/or surface coverage with each flight. The drone has an onboard controller so painting is autonomous with no human input being required. The drone stores a 3D model of the target structure annotated with the drone trajectory plus commands to control the pan-tilt paint nozzle to perform the painting. At runtime, the controller uses a sensor to view the target structure and localizes itself. The drone then traverses the stored trajectory and implements the painting commands to paint the 3D structure's surfaces.

Abstract: According to one implementation, a robotic system for performing large-scale environmental mapping in real-time includes a mobile reconnaissance unit having a color sensor, a depth sensor, and a graphics processing unit (GPU) with a GPU memory, and a navigation unit communicatively coupled to the mobile reconnaissance unit and having a central processing unit (CPU) with a CPU memory. The robotic system begins a three-dimensional (3D) scan of an environment of the mobile reconnaissance unit using the color sensor and the depth sensor, and generates mapping data for populating a volumetric representation of the environment. The robotic system continues the 3D scan of the environment using the color sensor and the depth sensor, updates the mapping data, and partitions the volumetric representation between the GPU memory and the CPU memory based on a memory allocation criteria.