An operating system for an automated vehicle includes a failure-detector and a controller. The failure-detector detects a component-failure on a host-vehicle. Examples of the component-failure include a flat-tire and engine trouble that reduces engine-power. The controller operates the host-vehicle based on a dynamic-model. The dynamic-model is varied based on the component-failure detected by the failure-detector.

A method, computer system, and a drone for in-flight drone structure modification are provided. A first sensor of a drone may detect damage to a first arm of the drone during a flight of the drone. In response to the detecting the damage, the damaged first arm of the drone may be detached via a computer of the drone and during the flight of the drone.

According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and/or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least four effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.

[Problem to be Solved] The object is to provide a device, a method and the like which, when a fault occurs, particularly when a fault occurs in an operation of some of rotary wings, can control a flight depending on the fault, or which can be at least used for control when a fault occurs, or which can detect the fault. [Solution] A control device for unmanned aircraft comprising: a rotary-wing control signal generation circuit for generating a rotary wing control signal for causing a driving device to drive a plurality of rotary wings for flying the unmanned aircraft; a measuring device for measuring a physical amount relating to an operation of at least one of the plurality of rotary wings; and a fault detection circuit for detecting a fault in the operation of at least one of the plurality of rotary wings by using the physical amount measured by the measuring device, wherein the rotary-wing control signal generation circuit is configured to generate a rotary wing control signal depending on the fault detected by the fault detection circuit in the operation of at least one of the plurality of rotary wings, is provided.

Commands, including a first and second command associated with a first and second rotor module, are determined based at least in part on a set of desired forces or moments and a plurality of health metrics, including by determining a plurality of differences between the plurality of health metrics and a threshold and assigning a lower thrust value to the first command based at least in part on the first difference and a higher thrust value to the second command based at least in part on the second difference, where the first difference indicates a higher degree of wear on the first rotor module than the second difference indicates for the second rotor module. The commands are sent to the rotor modules and after the commands are performed, updated health metrics are determined.

Provided is a method for controlling flight of a drone and an apparatus supporting the same. More specifically, the drone according to the present invention determines whether or not a specific condition is satisfied to deploy a parachute during the flight, and in a case where the specific condition is satisfied, the drone may stop an operation of one or more propellers to deploy the parachute. Next, the drone deploys the parachute, the parachute is deployed toward an area beside the drone, and the flight of the drone may be controlled by adjusting a rotation speed of each of the one or more propellers.

A set of one or more desired forces or desired moments associated with an aircraft having a plurality of rotor modules is received. A plurality of health metrics associated with the plurality of rotor modules is received. A plurality of commands for the plurality of rotor modules is determined based at least in part on the set of desired forces or desired moments and the plurality of health metrics. The plurality of commands is sent to the plurality of rotor modules where each rotor module in the plurality of rotor modules is configured to perform a corresponding command in the plurality of commands.

The present invention discloses an unmanned aerial vehicle and a control method thereof. The unmanned aerial vehicle includes a control module, motor arms, a plurality of lift motors and lift propellers. The control module is used to preset a correspondence between two ends of each motor arm and the corresponding lift motors; the control module is used to control each lift motor to be initiated; the control module is also used to determine whether a lift motor fails, determine a target lift motor and a target position if so, and adjust the power of other lift motors in all the lift motors corresponding to the target position apart from the target lift motor. The present invention improves the flight stability and safety of the unmanned aerial vehicle.

An aircraft for neutralizing flight comprising a fuselage, at least a power source, a plurality of laterally extending elements attached to the fuselage, a plurality of downward directed propulsors attached to the plurality of laterally extending elements and electrically connected to at least a power source, wherein the plurality of downward directed propulsors have a rotational axis offset from a vertical axis by a yaw-torque-cancellation angle, and a flight controller configured to include a notification unit.

Systems and methods provide for the evaluation of flight controls for an aerial vehicle and define a vehicle dynamics model corresponding to an aerial vehicle. One or more barrier functions are constructed based on the defined vehicle dynamics model, and candidate invariant sets are identified for the defined vehicle dynamics model using the one or more barrier functions. A plurality of flight controls of the aerial vehicle are analyzed using the identified candidate invariant sets and within the analyzed candidate invariant sets, command tracking of the aerial vehicle is confirmed with control commands, using the analyzed plurality of flight controls. Control commands falling outside of the analyzed candidate invariant sets are identified.