Abstract: Various embodiments include processing devices and methods for managing cleaning robot behavior. In some embodiments, a processor of the cleaning robot may determine operational information about operations of a heating, ventilation, and air conditioning (HVAC) system for at least one room in a structure. The processor may determine a time when operation of the HVAC system will end based on the determined operational information. The processor may generate an instruction for the cleaning robot to schedule an operation of the cleaning robot for a time after operation of the HVAC system will end. The processor may execute the generated instruction to perform the operation of the cleaning robot after operation of the HVAC system ends.

Abstract: Methods, systems, and devices for debris permutation are described. A robotic device may identify a cleaning trigger for a first surface region (e.g., a cleaning schedule, a notification from a remote device). The robotic device may activate one or more rotors o based at least in part on the surface cleaning trigger and move to an aerial position proximal to (e.g., above, diagonal to) the first surface region using the one or more rotors. The device may displace debris from the first surface region to a second surface region using a pressurized air stream.

Abstract: Methods, systems, and devices for robotic navigation are described. A robotic device such as a robotic vacuum or a robotic assistant may navigate a first surface. In some cases, navigating the first surface may include removing debris from the first surface. The robotic device may identify a location of a track that connects the first surface to a second surface that is vertically displaced from the first surface. The robotic device may engage the track based at least in part on the identified location. The robotic device may ascend to the second surface by activating an actuator and navigate the second surface (e.g., may remove debris from the second surface, may map the second surface, etc.).

Abstract: Aspects may provide navigation assistance to guide a robotic vehicle through a course defined by a plurality of gates each including a fiducial marker that encodes a location, an ordering, and a pose of the corresponding gate. In some implementations, an optimal trajectory may be generated through the course and used to determine whether to provide navigation assistance to the robotic vehicle. The optimal trajectory may include a reference path that extends through openings formed in center portions of the gates, and may be used to create a virtual tunnel indicating a maximum distance that the robotic vehicle may deviate from various points along the reference path. If the robotic vehicle deviates from the optimal trajectory by more than the distance while traversing the course, navigation assistance may be provided to the robotic vehicle.

Abstract: Aspects may augment a robotic vehicle with one or more virtual features. In some implementations, streaming video including a first-person view (FPV) of a robotic vehicle is presented on a display of a controller as the robotic vehicle traverses a course. A virtual object may be presented on the display of the vehicle controller, and a virtual contact between the robotic vehicle and the virtual object may be detected. If the virtual object is a virtual obstacle, the robotic vehicle may be penalized for making virtual contact with the virtual obstacle. If the virtual object is a virtual reward, the robotic vehicle may be rewarded for making virtual contact with the virtual reward.

Abstract: Aspects may define a race course using a plurality of gates each including a fiducial marker that encodes a location, an ordering, and a pose of the corresponding gate. Each of the gates may include an opening through which robotic vehicles participating in a race may traverse, and a flight path may be defined through the opening of the gates. Each fiducial marker may be displayed around a perimeter of the opening of a corresponding gate, and may include a unique pattern that conveys the location, ordering, and pose of the corresponding gate to video cameras provided on the robotic vehicles. A pilot may use the fiducial markers presented on the gates to navigate the robotic vehicle through the race course, for example, so that the pilot may not need to rely solely upon the first-person view provided by the streaming video transmitted from the robotic vehicle.

Abstract: A lighting system for an unmanned autonomous vehicle (UAV) adapts to the environment around the UAV to ensure status notification lights are visible to an operator and/or abide by regulatory lighting requirements. A processor of the UAV may receive information from various sensors regarding environmental conditions and location of the UAV, and adjust a UAV lighting system to ensure visibility under the environmental conditions. Adjustments to the lighting system may include selection of light sources that are illuminated, the illumination intensity of particular light sources, the colors emitted by various light sources and other lighting configurations.

Abstract: Various methods for providing adaptive voxels for an aerial light show may include determining a physical location of a robotic vehicle with respect to the aerial display, determining an appropriate light emission for the aerial light show based on the physical location of the robotic vehicle with respect to the aerial display, and adjusting a light emission of a light source of the robotic vehicle accordingly.

Abstract: Various embodiments include devices and methods for navigating a robotic vehicle within an environment. In various embodiments, a first image frame is captured using a first exposure setting and a second image frame is captured using a second exposure setting. A plurality of points may be identified from the first image frame and the second image frame. A first visual tracker may be assigned to a first set of the plurality of points and a second visual tracker may be assigned to a second set of the plurality of points. Navigational data may be generated based on results of the first visual tracker and the second visual tracker. The robotic vehicle may be controlled to navigate within the environment using the navigation data.

Abstract: Various embodiments include methods for rotor anomaly detection and response for an aerial robotic vehicle. A processor of the aerial robotic vehicle may obtain data from a sensor onboard the aerial robotic vehicle configured to detect anomalies in rotors. The processor may determine whether an anomaly is detected in any rotor based on the obtained data and take an action in response to detecting an anomaly in one or more rotors. Examples of actions that may be taken in response to detecting a rotor anomaly include preventing the aerial robotic vehicle from lifting-off, limiting operations of the aerial robotic vehicle within certain performance limits, and issuing a maintenance alert by the processor.

Abstract: Embodiments include devices and methods operating a robotic vehicle. A robotic vehicle processor may detect an object posing an imminent risk of collision with the robotic vehicle. The robotic vehicle processor may determine a classification of the detected object. The robotic vehicle processor may manage a rotation of a rotor of the robotic vehicle prior to a collision based on the classification of the object.

Abstract: Embodiments include methods performed by a processor of a robotic vehicle for detecting and responding to obstructions to an on-board imaging device that includes an image sensor. Various embodiments may include causing the imaging device to capture at least one image, determining whether an obstruction to the imaging device is detected based at least in part on the at least one captured image, and, in response to determining that an obstruction to the imaging device is detected, identifying an area of the image sensor corresponding to the obstruction and masking image data received from the identified area of the image sensor.

Abstract: Embodiments include methods performed by a processor of a robotic vehicle for detecting and responding to defects on an on-board imaging device that includes an image sensor. Various embodiments may include causing the imaging device to capture at least one image, determining whether a defect to the imaging device is detected based at least in part on the at least one captured image, and, in response to determining that a defect to the imaging device is detected, identifying an area of the image sensor corresponding to the defect and masking image data received from the identified area of the image sensor.

Abstract: A lighting system for an unmanned autonomous vehicle (UAV) adapts to the environment around the UAV to ensure status notification lights are visible to an operator and/or abide by regulatory lighting requirements. A processor of the UAV may receive information from various sensors regarding environmental conditions and location of the UAV, and adjust a UAV lighting system to ensure visibility under the environmental conditions. Adjustments to the lighting system may include selection of light sources that are illuminated, the illumination intensity of particular light sources, the colors emitted by various light sources and other lighting configurations.

Abstract: Methods, devices, and systems of various embodiments are disclosed for operating a propeller assembly for use with a UAV. Various embodiments include a propeller assembly including a pivotal arm, a propeller mounted on the pivotal arm, and pivotal leg coupled to the pivotal arm. The pivotal leg may be folded into the pivotal arm and the pivotal arm may be folded into a body of the UAV. A processor may be coupled to the propeller assembly and configured with processor-executable instructions to perform operations of the propeller assembly.

Abstract: Embodiments described herein relates to an Unmanned Aerial Vehicle (UAV) having vibration dampening and isolation capabilities, the UAV including a first frame portion, a second frame portion, and a third frame portion. Each of the first frame portion, the second frame portion, and the third frame portion is separated from one another. At least one first support member inelastically coupling the first frame portion and the third frame portion. At least one second support member elastically coupling the second frame portion and one or more of the first frame portion or the third frame portion to isolate the first frame portion and the third frame portion from vibration of the second frame portion.

Abstract: Embodiments include devices and methods for determining a spin direction of a motor of an unmanned aerial vehicle (UAV). A processor of the UAV may apply a first power to spin the motor in a first direction. The processor may select the first direction in response to determining that a detected rotational frequency-per-applied power in the first direction matches the expected rotational frequency-per-applied power. The processor may select the first direction in response to determining that a detected vertical motion is positive when the first power is applied in the first direction. The processor may also apply a second power to spin the motor in a second direction. The processor may determine whether a detected rotational frequency-per-applied power in the second direction matches the expected rotational frequency-per-applied power. The processor may determine whether a detected vertical motion is positive when the second power is applied in the second direction.

Abstract: Embodiments described herein relates to an Unmanned Aerial Vehicle (UAV) having vibration dampening and isolation capabilities, the UAV including a first frame portion, a second frame portion, and a third frame portion. Each of the first frame portion, the second frame portion, and the third frame portion is separated from one another. At least one first support member inelastically coupling the first frame portion and the third frame portion. At least one second support member elastically coupling the second frame portion and one or more of the first frame portion or the third frame portion to isolate the first frame portion and the third frame portion from vibration of the second frame portion.

Abstract: A motion control system is provided where a rotatable driven gear is held by bearings. The bearings are held inside a rotatable cam, where the cam has eccentricity between the outside and inside diameter. The outside diameter is held in a case that contains a driving gear. The backlash of the system is controlled by rotating the cam, which adjusts the center to center distance between the driving and driven gear.