Abstract: According to an aspect of the invention, a method of trajectory-based sensor planning for a vehicle includes receiving an indication of a planned change in a trajectory of the vehicle. A processing subsystem determines a current field of view of a directional sensor and a planned adjustment in the current field of view of the directional sensor relative to the vehicle to align with the planned change in the trajectory of the vehicle. The planned adjustment in the current field of view of the directional sensor is initiated prior to changing the trajectory of the vehicle.

Abstract: An online sensor calibration verification system includes at least one sensor configured to extract a calibration feature included in a field of view of the sensor. The online sensor calibration verification system further includes an electronic calibration verification module configured to determine a static reference feature model, and to verify a calibration of the at least one sensor based on a positional relationship between an extracted calibration feature and the static reference feature model.

Abstract: According to one aspect, a method of initial rotor state compensation for a rotorcraft includes determining a vehicle attitude of the rotorcraft prior to takeoff of the rotorcraft. A rotor state compensation is computed based on the vehicle attitude. A plurality of rotor servos is commanded to an initial rotor state based on a nominal rotor neutral position value in combination with the rotor state compensation to establish a predetermined takeoff trajectory of the rotorcraft.

Abstract: A method of performing a cooperative safe landing area determination includes receiving perception sensor data indicative of conditions at a plurality of potential landing areas. A processing subsystem of a vehicle updates a local safe landing area map based on the perception sensor data. The local safe landing area map defines safe landing area classifications and classification confidences associated with the potential landing areas. One or more remotely-generated safe landing area maps are received from one or more remote data sources. The one or more remotely-generated safe landing area maps correspond to one or more additional potential landing areas and non-landing areas. The local safe landing area map and the remotely-generated safe landing area maps are aggregated to form a fused safe landing area map. The fused safe landing area map is used to make a final safe landing area determination.

Abstract: An aspect includes a method of kinematic motion planning includes accessing a list of a plurality of nodes defining a plurality of potential kinematic path locations between a starting position and an ending position of a vehicle. A plurality of constraint sets is determined that apply one or more vehicle motion constraints based on a plurality of spatial regions defined between the starting position and the ending position. The constraint sets are applied in determining a plurality of connections between the nodes to form a kinematic motion path based on locations of the nodes relative to the spatial regions. The kinematic motion path is output to a dynamic path planner to complete creation of a motion path plan for the vehicle.

Abstract: A system and method for determining weight on wheels for an aircraft with at least one landing gear; a sensor associated with machinery Light Detection And Ranging scanner; a processor; and memory having instructions stored thereon that, when executed by the processor, cause the system to receive signals indicative of LIDAR image information for a landing gear; evaluate the LIDAR image information against a landing gear model; determine information indicative that the landing gear is locked in response to the evaluating of the LIDAR image information; and determine information indicative that the landing gear is compressed in response to the evaluating of the LIDAR image information against the landing gear model.

Abstract: A method of autonomous landing of an aircraft in a landing area includes receiving, with the processor, sensor signals related to the landing area via a sensor device; obtaining, with the processor, a template of the landing area in response to the receiving of the sensor signals; matching, with the processor, one or more features of the template with the features of the acquired images of the landing area; and controlling, with the processor, each of the sensor device and aircraft control system independently based on said matching.

Abstract: A system and method for determining the distance between at least one point on a vehicle and at least one projected area off of the vehicle includes receiving, with a processor, sensor signals indicative of LIDAR data for the projected area off the vehicle; applying, with the processor, a linear estimation algorithm to filter out noise within the LIDAR data and define a surface plane for the projected area; evaluating, with the processor, the LIDAR data against a vehicle state model; determining, with the processor, the distance between the at least one point on the vehicle and the at least one projected area off the vehicle; and commanding a response in the vehicle controls.

Abstract: According to an aspect of the invention, a method of probabilistic safe landing area determination for an aircraft includes receiving sensor data indicative of current conditions at potential landing areas for the aircraft. Feature extraction on the sensor data is performed. A processing subsystem of the aircraft updates a probabilistic safe landing area map based on comparing extracted features of the sensor data with a probabilistic safe landing area model. The probabilistic safe landing area model defines probabilities that terrain features are suitable for safe landing of the aircraft. A list of ranked landing areas is generated based on the probabilistic safe landing area map.

Abstract: An apparatus is described comprising at least one processor; and memory storing instructions that, when executed by the at least one processor, cause the apparatus to: organize items of raw data received from at least one sensor of a vehicle as a first data structure, organize classified data objects as a second data structure, and link at least one item of the first data structure to at least one object of the second data structure.

Abstract: A system for digitizing components of a vehicle includes a 3-dimensional sensing system operatively arranged to monitor a human-machine interface component of the vehicle, and a controller arranged to receive sensed data from the 3-dimensional sensing system. The controller processes the sensed data and outputs a signal indicative of a condition of the human-machine interface component.

Abstract: A system for a tail-sitter aircraft includes a fuselage having one or more propellers, a wing structure coupled to the fuselage, and a drag rudder assembly coupled to the wing structure, the drag rudder assembly including a first planar member that is coupled to a second planar member. The drag rudder assembly is configured to produce a stabilizing force on the wing structure during higher speeds of the aircraft in tandem rotor flight.

Abstract: An aircraft is provided and includes an airframe. The airframe includes first and second rotor apparatuses at upper and tail portions of the aircraft, respectively, to provide for control and navigational drive. The aircraft further includes a stabilizer component disposed at the tail portion in a position displaced from downwash of the first and second rotor apparatuses at airspeed ranges and a control system configured to apply a dither actuation signal to the stabilizer component at the airspeed ranges by which an aircraft response to a stabilizer component input is measurable for airspeed estimation purposes.

Abstract: A method of autonomous landing of an aircraft in a landing area includes receiving, with the processor, sensor signals related to the landing area via a sensor device; obtaining, with the processor, a template of the landing area in response to the receiving of the sensor signals; matching, with the processor, one or more features of the template with the features of the acquired images of the landing area; and controlling, with the processor, each of the sensor device and aircraft control system independently based on said matching.

Abstract: According to an aspect of the invention, a method of probabilistic safe landing area determination for an aircraft includes receiving sensor data indicative of current conditions at potential landing areas for the aircraft. Feature extraction on the sensor data is performed. A processing subsystem of the aircraft updates a probabilistic safe landing area map based on comparing extracted features of the sensor data with a probabilistic safe landing area model. The probabilistic safe landing area model defines probabilities that terrain features are suitable for safe landing of the aircraft. A list of ranked landing areas is generated based on the probabilistic safe landing area map.

Abstract: Embodiments are directed to obtaining data associated with at least one aircraft flight parameter when an aircraft is being operated in flight; processing the data to determine that the at least one aircraft flight parameter indicates a change in value in an amount greater than a threshold; and decoupling a load from the aircraft based on determining that the at least one aircraft flight parameter indicates the change in value in the amount greater than the threshold.

Abstract: An aircraft is provided and includes an airframe. The airframe includes first and second rotor apparatuses at upper and tail portions of the aircraft, respectively, to provide for control and navigational drive. The aircraft further includes a stabilizer component disposed at the tail portion in a position displaced from downwash of the first and second rotor apparatuses at airspeed ranges and a control system configured to apply a dither actuation signal to the stabilizer component at the airspeed ranges by which an aircraft response to a stabilizer component input is measurable for airspeed estimation purposes.

Abstract: A system and method for controlling flight of an aircraft having a propeller, memory and a processor includes receiving one or more signals indicative of a flight plan comprising a plurality of waypoints; determining information indicative of a trajectory between the plurality of waypoints; determining information indicative of vehicle attitude commands; determining information indicative of flight control command signals; and determining an error between sensed vehicle states and the vehicle attitude commands.

Abstract: According to an aspect, a method of performing environmentally-aware landing zone classification for an aircraft includes receiving environmental sensor data indicative of environmental conditions external to the aircraft. Image sensor data indicative of terrain representing a potential landing zone for the aircraft are received. An environmentally-aware landing zone classification system of the aircraft evaluates the environmental sensor data to classify the potential landing zone relative to a database of landing zone types as environmentally-aware classification data. Geometric features of the potential landing zone are identified in the image sensor data as image-based landing zone classification data. The potential landing zone is classified and identified based on a fusion of the environmentally-aware classification data and the image-based landing zone classification data.

Abstract: A system and method for state estimation of a surface of a platform at sea, includes receiving sensor signals indicative of LIDAR data for the platform; applying a Bayesian filter to the LIDAR data for a plurality of hypotheses; determining vertical planes representing azimuth and elevation angles for the LIDAR data; applying a robust linear estimation algorithm to the vertical planes; and determining candidate points in response to the applying of the robust linear estimation algorithm.