Abstract: A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing or determining trajectories of the robot and a nearby moving object forward in time from their respective current positions, and detecting a conflict from a comparison of the trajectories. The method includes selecting a maneuver to avoid the conflict, and outputting an indication of the maneuver for use in at least one of guidance, navigation or control of the robot to avoid the conflict. Selection of the maneuver includes determining a plurality of angles that describe the conflict such as those at which the robot and moving object observe one another, and/or an angle between their trajectories, and evaluating the plurality of angles to select the maneuver.

Abstract: Example implementations are directed to a method and system for collision avoidance for an aircraft traversing a flight path. The method and system described herein provides an architecture to address the full gamut of complexity that arises when dealing with possible conflicts during aircraft flight. The collision avoidance method and system disclosed herein first receives multiple streams of potential conflict information that not only considers direct obstacles on the flight path of the aircraft, but also considers contextual obstacles that are within a perimeter of the flight path. Once the possible objects are considered, a plurality of alternate flight paths are calculated and the alternate flight path with an acceptable miss distance with a possible obstacle (and minimized deviation from the original flight path) is selected and the aircraft traversing the flight path deviates from the original flight path to the alternate flight path to avoid the collision(s).

Abstract: A method, apparatus, system, and computer program product for planning multimodal travel. A planning request for the multimodal travel from a first location to an second location is received. Candidate routes are determined for a passenger that is customized for a set of customization parameters a using the first location, the second location, and a set of passenger preferences. A candidate route in the candidate routes comprises a first leg from the first location to a first vertiport via a first modality, a second leg for a passenger air vehicle to travel from the first vertiport to a second vertiport using an air modality, and a third leg from the second vertiport to the second location using a second modality. The candidate route in the candidate routes is selected to form a route for the multimodal travel for the passenger when a user input is received selecting the candidate route.

Abstract: A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing or determining trajectories of the robot and a nearby moving object forward in time from their respective current positions, and detecting a conflict from a comparison of the trajectories. The method includes selecting a maneuver to avoid the conflict, and outputting an indication of the maneuver for use in at least one of guidance, navigation or control of the robot to avoid the conflict. Selection of the maneuver includes determining a plurality of angles that describe the conflict such as those at which the robot and moving object observe one another, and/or an angle between their trajectories, and evaluating the plurality of angles to select the maneuver.

Abstract: A method, apparatus, system, and computer program product for managing vertiport resources. A capacity for handling air traffic at a vertiport is determined. An allocation of arrival slots, departure slots, and service slots for the air traffic using the vertiport is managed based on the capacity determined for the vertiport.

Abstract: Systems and methods for enabling consistent smooth takeoffs and landings of vertical and/or short-runway takeoff and landing aircraft at sites with gusty conditions. The system includes a network of wind measurement stations deployed around the perimeter of a takeoff/landing site for spatio-temporally characterizing wind fluctuations (e.g., wind gusts) that enter a volume of airspace overlying the site, data processing means for deriving information about the fluctuations from the wind measurements, communication means for transmitting disturbance information to the aircraft, and a flight control system onboard the aircraft that is configured to use the disturbance information to control the aircraft in a manner that compensates for the fluctuations. The wind measurement units may include laser Doppler anemometers, sound detection and ranging systems or other devices capable of simultaneous spatially and temporally resolved wind measurements.

Abstract: A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing or determining trajectories of the robot and a nearby moving object forward in time from their respective current positions, and detecting a conflict from a comparison of the trajectories. The method includes selecting a maneuver to avoid the conflict, and outputting an indication of the maneuver for use in at least one of guidance, navigation or control of the robot to avoid the conflict. Selection of the maneuver includes determining a plurality of angles that describe the conflict such as those at which the robot and moving object observe one another, and/or an angle between their trajectories, and evaluating the plurality of angles to select the maneuver.

Abstract: A method, apparatus, system, and computer program product for planning multimodal travel. A planning request for the multimodal travel from a first location to an second location is received. Candidate routes are determined for a passenger that is customized for a set of customization parameters a using the first location, the second location, and a set of passenger preferences. A candidate route in the candidate routes comprises a first leg from the first location to a first vertiport via a first modality, a second leg for a passenger air vehicle to travel from the first vertiport to a second vertiport using an air modality, and a third leg from the second vertiport to the second location using a second modality. The candidate route in the candidate routes is selected to form a route for the multimodal travel for the passenger when a user input is received selecting the candidate route.

Abstract: A method, apparatus, system, and computer program product for operating air vehicles. Missions for the air vehicles are grouped into categories based on durations of the missions. The missions within the categories are clustered into subsets of the missions that can be concurrently performed to meet a set of mission performance criteria. The subsets of the missions are assigned to a set of air vehicle supervisors.

Abstract: A method of controlling a vehicle includes detecting, by an optical sensor, a movement of at least one object in a field of view of the optical sensor. The method further includes identifying, by a processor circuit, a pattern based on the movement of the at least one object. The method further includes determining, by the processor circuit based on the pattern, a vehicle command to be performed by the vehicle.

Abstract: The subject disclosure relates an aerial system to track a detected obstacle. The aerial system may comprise a plurality of aircraft, an aircraft storage system to house the plurality of aircraft, an aircraft controller in communication with each of a tracking system and the plurality of aircraft. In operation, one or more of the plurality of aircraft may engage the detected threat. At least one of the plurality of aircraft may include a target neutralization device to strike the detected threat.

Abstract: Disclosed is an aerial vehicle having a reduced noise signature. The aerial vehicle may be a vertical take-off and landing (VTOL) aerial vehicle. The aerial vehicle comprises an airframe and a plurality of rotors operatively coupled with one or more motors. The plurality of rotors may comprise a first, second, third, and fourth rotor. Each of the first, second, third, and fourth rotors may be arranged in a single plane and oriented to direct thrust downward relative to the airframe. In certain aspects, at least two of the plurality of rotors employ a different geometry to generate a targeted noise signature.

Abstract: Disclosed is a system, method, and aircraft for controlling acoustic radiation from an aircraft comprising a plurality of rotor systems and a noise controller configured to regulate acoustic radiation from the plurality of rotor systems. The noise controller can be configured to regulate a commanded flight setting from the flight control system and to output a regulated flight setting to the plurality of rotor systems. Based on the regulated flight setting, the plurality of rotor systems are configured to generate, individually and in aggregate, acoustic radiation having a target acoustic behavior. In certain aspects, the noise controller can change the directionality of acoustic radiation from the plurality of rotor systems, or otherwise tune the acoustic radiation to reduce detectability or annoyance.

Abstract: Systems and methods for enabling consistent smooth takeoffs and landings of vertical and/or short-runway takeoff and landing aircraft at sites with gusty conditions. The system includes a network of wind measurement stations deployed around the perimeter of a takeoff/landing site for spatio-temporally characterizing wind fluctuations (e.g., wind gusts) that enter a volume of airspace overlying the site, data processing means for deriving information about the fluctuations from the wind measurements, communication means for transmitting disturbance information to the aircraft, and a flight control system onboard the aircraft that is configured to use the disturbance information to control the aircraft in a manner that compensates for the fluctuations. The wind measurement units may include laser Doppler anemometers, sound detection and ranging systems or other devices capable of simultaneous spatially and temporally resolved wind measurements.

Abstract: An aircraft-based object manipulation system and methods are provided herein. The system includes an airframe capable of flight. A plurality of sensors configured to identify a physical characteristic of an object. An object manipulation system is configured to adjust a position the object, and to secure the object to the airframe. A processor communicatively configured to control operation of the object manipulation system based on information from the plurality of sensors.

Abstract: The subject disclosure relates an aerial system to track a detected obstacle. The aerial system may comprise a plurality of aircraft, an aircraft storage system to house the plurality of aircraft, an aircraft controller in communication with each of a tracking system and the plurality of aircraft. In operation, one or more of the plurality of aircraft may engage the detected threat. At least one of the plurality of aircraft may include a target neutralization device to strike the detected threat.

Abstract: Disclosed is a system, method, and aircraft for controlling acoustic radiation from an aircraft comprising a plurality of rotor systems and a noise controller configured to regulate acoustic radiation from the plurality of rotor systems. The noise controller can be configured to regulate a commanded flight setting from the flight control system and to output a regulated flight setting to the plurality of rotor systems. Based on the regulated flight setting, the plurality of rotor systems are configured to generate, individually and in aggregate, acoustic radiation having a target acoustic behavior. In certain aspects, the noise controller can change the directionality of acoustic radiation from the plurality of rotor systems, or otherwise tune the acoustic radiation to reduce detectability or annoyance.

Abstract: The subject disclosure relates an aerial defense system to defend against a detected threat. The aerial defense system may comprise a plurality of defensive aircraft, an aircraft storage system to house the plurality of defensive aircraft, an aircraft controller in communication with each of a targeting system and the plurality of defensive aircraft, and a human machine interface (HMI) device to provide operator interaction. In operation, one or more of the plurality of defensive aircraft may engage the detected threat. At least one of the plurality of defensive aircraft may include a target neutralization device to strike, or otherwise engage, the detected threat.

Abstract: An intercepting vehicle includes a body, at least one tensioning line attached to the body, and a net attached to the at least one tensioning line for towing the net behind the intercepting vehicle. The net includes a perimeter surrounding an open-mesh matrix of fibers and at least one airfoil section disposed on the perimeter of the net, where the at least one airfoil section is arranged such that lift created by the at least one airfoil section when the net is towed behind the intercepting vehicle acts outwardly on the perimeter of the net, deploying the net into a capture orientation.

Abstract: Disclosed is a system for controlling acoustic radiation from an aircraft. The system comprising a plurality of rotor systems (one or more) and a noise controller configured to regulate acoustic radiation from the plurality of rotor systems. The noise controller can be configured to regulate a commanded flight setting from the flight control system and to output a regulated flight setting to the plurality of rotor systems. Based on the regulated flight setting, the plurality of rotor systems are configured to generate, individually and in aggregate, acoustic radiation having a target acoustic behavior. The target acoustic behavior may be achieved using beamforming techniques to, for example, change the directionality of acoustic radiation from the plurality of rotor systems, or otherwise tune the acoustic radiation to reduce detectability and/or annoyance.