Abstract: A system for charging a battery in an aircraft comprises a ground station comprising an electrical connector configured to be connected to a source of power, a charging port comprising a plurality of electrical contacts a surface of the ground station, and at least one magnetic element positioned on the surface of the ground station, a tether configured to be connected at the proximal end to the aircraft, comprising an electrical connector at the proximal end configured to be connected to a battery of a aircraft, at least one tether magnetic element positioned at the distal end, and a tether charging connector positioned at the distal end, configured to electrically connect to the charging port when the at least one tether magnetic element is connected to the at least one ground station magnetic element. A method of charging an aircraft is also disclosed.

Abstract: Systems, devices, and methods for on-board sensing and control of robotic vehicles (e.g., MAVs) using commercial off-the-shelf hand-held electronic devices as a sensing and control system are provided. In one aspect, a system for controlling a micro aerial vehicle may include one or more sensors, a state estimation module in communication with the one or more sensors, the state estimation module being configured to generate an estimated pose of the micro aerial vehicle based on inputs from the one or more sensors, and a position controller in communication with the state estimation module and configured to communicate attitude commands to an attitude controller of the micro aerial vehicle. Each of the one or more sensors, the state estimation module, and the position controller may be contained in a commercial off-the-shelf hand-held electronic device that is configured to be coupled to the micro aerial vehicle.

Abstract: Systems, devices, and methods for on-board sensing and control of robotic vehicles (e.g., MAVs) using commercial off-the-shelf hand-held electronic devices as a sensing and control system are provided. In one aspect, a system for controlling a micro aerial vehicle may include one or more sensors, a state estimation module in communication with the one or more sensors, the state estimation module being configured to generate an estimated pose of the micro aerial vehicle based on inputs from the one or more sensors, and a position controller in communication with the state estimation module and configured to communicate attitude commands to an attitude controller of the micro aerial vehicle. Each of the one or more sensors, the state estimation module, and the position controller may be contained in a commercial off-the-shelf hand-held electronic device that is configured to be coupled to the micro aerial vehicle.