Methods and apparatus for allocating control effector commands to reduce vehicle deviations from a commanded trajectory. An example apparatus includes interface circuitry, machine readable instructions, and programmable circuitry to at least one of instantiate or execute the machine readable instructions to receive control force or moment command input associated with an over-actuated vehicle, the over-actuated vehicle including a first actuator and a second actuator, apply a rate or position limit based on actuator capability, and reassign control from the first actuator to the second actuator based on a lagged command position of the first actuator to preserve a control trajectory of the vehicle.

A method includes causing an uncrewed aerial vehicle (UAV) to navigate through a trajectory. The method also includes receiving first motor data representing operation of a first motor during navigation through the trajectory and receiving second motor data representing operation of a second motor during navigation through the trajectory. The method further includes comparing the first motor data with the second motor data. The method also includes, based on the comparison of the first motor data and the second motor data, determining a motor failure state. The method additionally includes causing the UAV to navigate based on the motor failure state.

Systems and methods are provided for landing site selection and flight path planning for an aircraft using soaring weather conditions. The methods may include, with one or more processors of a controller onboard the aircraft: receiving data indicative of terrain, airports, airspace, aerodynamics of the aircraft, real-time weather, and real-time status of the aircraft, determining a gliding range of the aircraft based at least in part on soaring weather conditions that include environmental regions of thermal draft capable of producing lift sufficient to extend the gliding range of the aircraft, determining a landing site for the aircraft based on the gliding range of the aircraft, and determining a flight path of the aircraft that uses the soaring weather conditions to extend the gliding range of the aircraft and land at the landing site.

When any one of a plurality of first rotors (VTOL rotors) fails, a rotor controller (a VTOL rotor controller) executes thrust increase control for increasing the thrust generated by an adjacent first rotor that is the first rotor adjacent to the failed first rotor, without making the adjacent first rotor cause the thrust variation for vibration suppression control, and executes the vibration suppression control in a manner so that one or more second rotors (VTOL rotors) bear the burden of the thrust variation that has been borne by the adjacent first rotor.

This disclosure relates to apparatuses, systems, and methods for handling faults on vehicles. One or more processors in a vehicle may receive, from a control unit in response to a detection of a fault in the vehicle, an indication of a degradation in a performance constraint of the vehicle. The processors may determine, responsive to the degradation in the performance constraint, that the vehicle is unable to execute a set of commands to control a movement of the vehicle along a trajectory. The processors may generate, in accordance with the degradation in the performance constraint, a modified set of commands that the vehicle is able to execute to control the movement of the vehicle along at least a portion of one or more trajectories. The processors may provide the modified set of commands to the control unit of the vehicle to control the movement of the vehicle.

A system, computer readable storage medium and method for controlling a trajectory of coordinated time-varying maneuvers of a geometric formation of unmanned vehicles is disclosed. The system includes unmanned vehicles, each configured with communication circuitry to communicate between the vehicles. A subset of the unmanned vehicles function as leader vehicles, with the remaining vehicles functioning as follower vehicles for leader-follower maneuvering. The system further includes an actuator suite configured to adjust the direction and orientation of each vehicle, a sensor suite for stabilization and navigation, and a flight controller for maintaining stable maneuvering, even in the presence of actuator faults and sensor deception attacks. Processing circuitry is configured with a reinforcement learning neural network that includes identifier, actor, and critic radial basis function neural networks to estimate movement, adjust control actions, and assess vehicle performance based on feedback signals, including corrupted signals from the sensor suite due to deception attacks.

A hybrid-electric propulsion system includes a propulsor, a turbomachine, and an electrical system having an electric machine coupled to the turbomachine. A method for operating the propulsion system includes operating, by one or more computing devices, the turbomachine to rotate the propulsor and generate thrust for the aircraft; receiving, by the one or more computing devices, data indicative of an un-commanded loss of the thrust generated from the turbomachine rotating the propulsor; and providing, by the one or more computing devices, electrical power to the electric machine to add power to the turbomachine, the propulsor, or both in response to receiving the data indicative of the un-commanded loss of thrust.

A controller for an aerial vehicle, the aerial vehicle comprising a fuselage, fixed wings, and a multi-rotor assembly, the fixed wings disposed on both sides of the fuselage, and the multi-rotor assembly comprising at least two rotors disposed on either the fuselage or the fixed wings. The controller may comprise at least one memory storing at least one instruction set configured to control the vehicle, and at least one processor, communicatively coupled to the at least one memory. When the aerial vehicle operates, the at least one processor executes the at least one instruction set to, during cruise of the aerial vehicle, control at least a portion of the rotors of the multi-rotor assembly to actively rotate to provide a force in a vertical direction so that the multi-rotor assembly and the fixed wings together provide lift for the aerial vehicle.

Provided is a reception device comprising: a reception part configured to receive the control signal from a transmission device; and a controller configured to performs a process of outputting a motor driving instruction value corresponding to the control signal received by the reception part as a motor driving instruction value for controlling a driving amount of a motor, wherein the controller performs: a hold process for holding and outputting a value corresponding to the control signal during a reception period as the motor driving instruction value when the control signal is not receivable; and a failsafe gradual change process for gradually changing the motor driving instruction value from the value during the hold process toward a failsafe value determined for failsafe when a period of the hold process reaches a certain period.

Systems and methods are provided for landing site selection and flight path planning for an aircraft using soaring weather conditions. The methods may include, with one or more processors of a controller onboard the aircraft: receiving data indicative of terrain, airports, airspace, aerodynamics of the aircraft, real-time weather, and real-time status of the aircraft, determining a gliding range of the aircraft based at least in part on soaring weather conditions that include environmental regions of thermal draft capable of producing lift sufficient to extend the gliding range of the aircraft, determining a landing site for the aircraft based on the gliding range of the aircraft, and determining a flight path of the aircraft that uses the soaring weather conditions to extend the gliding range of the aircraft and land at the landing site.