Search NASA⌕ Search

SEARCH · Search NASA

Results for “Autonomous Flight”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Perception Testing in Fog for Autonomous Flight

As the path towards Urban Air Mobility (UAM) continues to take shape, there are outstanding technical challenges to achieving safe and effective air transportation operations under this new paradigm. To inform and guide technology development for UAM, NASA is investigating the current state-of-the-art in key technology areas including traffic management, detect-and-avoid, and autonomy. In support of this effort, a new perception testbed was developed at NASA Ames Research Center to collect data from an array of sensing systems representative of those that could be found on a future UAM vehicle. This testbed, featuring a Light-Detection-and-Ranging (LIDAR) instrument, a long-wave infrared sensor, and a visible spectrum camera was deployed for a multiday test campaign in the Fog Chamber at Sandia National Laboratories (SNL), in Albuquerque, New Mexico. During the test campaign, fog conditions were created for tests with targets including a human, a resolution chart, and a small unmanned aerial vehicle (sUAV). Here, this paper describes in detail, the developed perception testbed, the experimental setup in the fog chamber, the resulting data, and presents an initial result from analysis of the data with the evaluation of methods to increase contrast through filtering techniques.

aeronautics↗
DOE OSTI2020

Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)

The subject matter described herein includes a modular and extensible approach to integrate noisy measurements from multiple heterogeneous sensors that yield either absolute or relative observations at different and varying time intervals, and to provide smooth and globally consistent estimates of position in real time for autonomous flight. We describe the development of the algorithms and software architecture for a new 1.9 kg MAV platform equipped with an IMU, laser scanner, stereo cameras, pressure altimeter, magnetometer, and a GPS receiver, in which the state estimation and control are performed onboard on an Intel NUC 3rd generation i3 processor. We illustrate the robustness of our framework in large-scale, indoor-outdoor autonomous aerial navigation experiments involving traversals of over 440 meters at average speeds of 1.5 m/s with winds around 10 mph while entering and exiting buildings.

42 ENGINEERING↗
DOE OSTI2022

Autonomous aerial flight path inspection using advanced manufacturing techniques

Robotic systems have shown capabilities to perform inspection tasks in dangerous and difficult-to-access environments, such as those found in different components of power plants. However, most of the current robotic inspection technology is designed for specific components. Aerial robots, commonly termed as Drones, have raised an option to inspect a wider range of structural components. Nevertheless, current aerial inspecting technology still relies on a human pilot with limited line of sight, field of view and a reduced perception as the drone flies away, which prevents performing close-quarter inspection in intricate, structurally complex and GPS-denied environments. This work introduces offline inspection path generation methods based on robotics-integrated to manufacturing techniques. One method uses computer-aided manufacturing (CAM) techniques and the other an additive manufacturing (AM) approach to generate the flight path. That is to say, the drone would fly along the path described by a 3D (Three Dimensional) printer’s extruder or a CNC (Computer Numerical Control) machining tool, enabling to fly very close the structure even in physical structures with a complex geometry. Once the trajectories are generated, they are introduced for its validation in the Gazebo robotics simulator. Simulation results demonstrate the proper performance of the method and confirm that this approach can be used for close inspection of structural components.

42 ENGINEERING↗
DOE OSTI2025

Aerial and Processed Model Data Representing As-built Conditions in Coastal Port Arthur, Texas in May 2025

This dataset was collected by the Co-Design Team of the Southeast Texas Urban Integrated Field Lab, a research initiative led by the University of Texas at Austin and funded by the U.S. Department of Energy. The broader project focuses on developing climate-resilient design solutions for the Beaumont–Port Arthur region, with more information available at www.setx-uifl.org. Our team conducted aerial surveys of the Port Arthur coastal neighborhood in May 2025, before the start of construction scheduled for Summer 2026. These pre-construction datasets are designed to facilitate comparative analyses, including pre- and post-construction assessments and simulated inundation scenario evaluations. Aerial images were captured using DroneDeploy autonomous flight systems, with imagery processed through the DroneDeploy engine. All original aerial photographs are provided in JPG format and organized in zipped folders by area. The processed data package includes: 3D surface models Orthomosaics Geospatial and topographic mappings Point clouds For guidance on file contents, structure, and recommended usage, please refer to the included README file.

2D mapping↗
DOE OSTI2024

Real-time kinematic (RTK) Drone-collected Data and Processed Models of Port Arthur Coastal Neighborhood and Pleasure Island Golf Course, June 2024

The Southeast Texas Urban Integrated field lab’s Co-design team captured aerial photos in the Port Arthur Coastal Neighborhood Community and the Golf Course on Pleasure Island, Texas, in June 2024. Aerial photos taken were through autonomous flight, and models were processed through the DroneDeploy engine. All aerial photos are in .JPG format and contained in zipped files for each area. The processed data package includes 3D models, geospatial data, mappings, and point clouds. Please be aware that DTM, Elevation toolbox, Point Cloud, and Orthomosaic use EPSG: 6588. And 3D Model uses EPSG: 3857.For using these data:- The Adobe Suite gives you great software to open .Tif files.- You can use LASUtility (Windows), ESRI ArcGIS Pro (Windows), or Blaze3D (Windows, Linux) to open a LAS file and view the data it contains.- Open an .OBJ file with a large number of free and commercial applications. Some examples include Microsoft 3D Builder, Apple Preview, Blender, and Autodesk.- You may use ArcGIS, Merkaartor, Blender (with the Google Earth Importer plug-in), Global Mapper, and Marble to open .KML files.- The .tfw world file is a text file used to georeference the GeoTIFF raster images, like the orthomosaic and the DSM. You need suitable software like ArcView to open a .TFW file.This dataset provides researchers with sufficient geometric data and the status quo of the land surface at the locations mentioned above. This dataset will support researchers' decision-making processes under uncertainties.

2D mapping↗
DOE OSTI2024

Aerial Data and Processed Models of Port Arthur Coastal Neighborhood and Pleasure Island Golf Course, June 2024

Our Co-design team is from the University of Texas, working on a Department of Energy-funded project focused on the Beaumont-Port Arthur area. As part of this project, we will be developing climate-resilient design solutions for areas of the region. More on www.caee.utexas.edu.We captured aerial photos in the Port Arthur Coastal Neighborhood Community and the Golf Course on Pleasure Island, Texas, in June 2024.Aerial photos taken were through DroneDeploy autonomous flight, and models were processed through the DroneDeploy engine as well. All aerial photos are in .JPG format and contained in zipped files for each area.The processed data package includes 3D models, geospatial data, mappings, and point clouds. Please be aware that DTM, Elevation toolbox, Point cloud, and Orthomosaic use EPSG: 6588. And 3D Model uses EPSG: 3857.For using these data:- The Adobe Suite gives you great software to open .Tif files.- You can use LASUtility (Windows), ESRI ArcGIS Pro (Windows), or Blaze3D (Windows, Linux) to open a LAS file and view the data it contains.- Open an .OBJ file with a large number of free and commercial applications. Some examples include Microsoft 3D Builder, Apple Preview, Blender, and Autodesk.- You may use ArcGIS, Merkaartor, Blender (with the Google Earth Importer plug-in), Global Mapper, and Marble to open .KML files.- The .tfw world file is a text file used to georeference the GeoTIFF raster images, like the orthomosaic and the DSM. You need suitable software like ArcView to open a .TFW file.This dataset provides researchers with sufficient geometric data and the status quo of the land surface at the locations mentioned above. This dataset could streamline researchers' decision-making processes and enhance the design as well.

2D mapping↗
DOE OSTI2023

Aerial Captured Data and Processed Models in Beaumont-Port Arthur Region in Feb and Oct, 2023

Our Co-design team is from the University of Texas, working on a Department of Energy-funded project focused on the Beaumont-Port Arthur area. As part of this project, we will be developing climate-resilient design solutions for areas of the region. More on www.caee.utexas.edu.We used a DJI Mavic 2 Pro to capture aerial photos in Beaumont-Port Arthur, TX, in February 2023, including:I. Beaumont Soccer ClubII. Corps’ Port Arthur Resident OfficeIII. Halbouty Pump Station comprises its vicinityIV. Lamar University (Including Exxon Power Plants close to Lamar Univ.)V. MLK Boulevard for aerial images of the industry and the ship channelVI. Salt Water Barrier (include some aerial images about the Big Thicket)Aerial photos taken were through DroneDeploy autonomous flight, and models were processed through the DroneDeploy engine as well. All aerial photos are in .JPG format and contained in zipped files for each location.The processed data package including 3D models, geospatial data, mappings, point clouds, and the animation video of Halbouty Pump Station has various file types:- The Adobe Suite gives you great software to open .Tif files.- You can use LASUtility (Windows), ESRI ArcGIS Pro (Windows), or Blaze3D (Windows, Linux) to open a LAS file and view the data it contains.- Open an .OBJ file with a large number of free and commercial applications. Some examples include Microsoft 3D Builder, Apple Preview, Blender, and Autodesk.- You may use ArcGIS, Merkaartor, Blender (with the Google Earth Importer plug-in), Global Mapper, and Marble to open .KML files.- The .tfw world file is a text file used to georeference the GeoTIFF raster images, like the orthomosaic and the DSM. You need suitable software like ArcView to open a .TFW file.This dataset provides researchers with sufficient geometric data and the status quo of the land surface at the locations mentioned above. This dataset could streamline researchers' decision-making processes and enhance the design as well.In October 2023, we had our follow-up data collection, including:I. Beaumont Soccer ClubII. Shipping and Receiving Center at Lamar UniversityAfter the aerial collection, we obtained aerial photos of those two locations mentioned above, as well as processed data (such as point clouds and models).

2D mapping↗
DOE OSTI2022

Typical Neutron Emission Spectra for Multi-Mission Radioisotope Thermoelectric Generator Fuel

The Dragonfly rotorcraft currently being designed by the Johns Hopkins Applied Physics Laboratory (APL) is a mission destined to explore, via autonomous flight, the Saturnian moon of Titan and currently scheduled to launch in 2027. This largest moon of Saturn contains a thick, dense atmosphere, that when coupled with the remote distance to the Sun, requires the use of a radioisotope power system (RPS). The multi-mission radioisotope thermoelectric generator (MMRTG) fueled at Idaho National Laboratory is currently the only flight-certified RPS still in production within the Department of Energy complex, thus, an MMRTG was chosen for the Dragonfly mission.

07 ISOTOPE AND RADIATION SOURCES↗
DOE OSTI2025

Development and flight-testing of modular autonomous cultivation systems for biological plastics upcycling aboard the ISS

Cultivation of microorganisms in space has enormous potential to enable in-situ resource utilization (ISRU) Here, we develop an autonomous payload with fully programmable serial passaging and sample preservation, termed the Modular Open Biological Platform (MOBP), and flight-test the MOBP aboard the International Space Station (ISS) by conducting enzymatic and microbial plastics upcycling experiments. The MOBP is a compact, modular bioreactor system that allows for sustained microbial growth via automated media transfers, such as those for sample collection and storage for terrestrial analyses, and precise data monitoring from integrated sensors. The MOBP was flight-tested with two experiments designed to evaluate biological upcycling of the plastic poly(ethylene terephthalate) (PET). The bioproduct βKA can be polymerized into a nylon-6,6 analog with improved properties for use in the production of a variety of materials. We posit the MOBP will aid in democratizing the execution of synthetic biology in spaceflight towards enabling ISRU.

09 BIOMASS FUELS↗
DOE OSTI2023

Systems and methods for improved aircraft safety

Methods and system for improved aircraft safety are described herein. A machine learning model may be trained using historical flight data for a number of previously flown flights where an automation function autonomously disengaged. The trained machine learning model may be used to generate probabilistic alert rules. The probabilistic alert rules may be used by a computing device onboard an aircraft to provide contextual information to flight crew relating to engagement status for one or more automation functions of the aircraft.

Sherry, Lance↗
DOE OSTI2026

Demonstration and analysis of volumetric additive manufacturing via sub-orbital spaceflight testing

Computed Axial Lithography (CAL) represents a significant advancement in the emerging field of Volumetric Additive Manufacturing (VAM). CAL addresses key limitations of traditional photopolymer additive manufacturing technologies, by eliminating the need for layering and support structures. Unlike conventional methods, CAL prints components by illuminating all points within a desired geometry simultaneously, using tomographic reconstruction to form the object in a single step. This unique approach eliminates the relative motion between the object and the precursor material, enabling faster printing speeds and reducing the waste associated with support structures. However, CAL parts require post-processing steps before they can be utilized. CAL's core attributes make it particularly suited for In-Space Manufacturing (ISM), due to its fast fabrication times, wide breadth of materials it can use, and minimized footprint. CAL has been successfully demonstrated in microgravity during parabolic flight experiments. However to fully validate and understand CAL's behaviour in microgravity, all manufacturing and post-processing steps must be integrated. In June 2024, we conducted SpaceCAL Mission 3, testing this entire workflow on a suborbital flight aboard Virgin Galactic's SpaceShipTwo. During ~140 s of microgravity, the system autonomously manufactured and post-processed four parts using PEGDA700 resin. Post-flight analysis showed that 2/4 parts were recognisable, while others were distorted due to bubble formation from residual water droplets, off-axis optical aberrations, and non-uniform solvent rinsing. Despite these limitations, this study represents the first integrated CAL workflow in space, providing an initial experimental demonstration and analysis for closed-loop in-space manufacturing.

Waddell, Taylor [Department of Mechanical Engineer↗
DOE OSTI2021

In-flight positional and energy use data set of a DJI Matrice 100 quadcopter for small package delivery

Abstract We autonomously directed a small quadcopter package delivery Uncrewed Aerial Vehicle (UAV) or “drone” to take off, fly a specified route, and land for a total of 209 flights while varying a set of operational parameters. The vehicle was equipped with onboard sensors, including GPS, IMU, voltage and current sensors, and an ultrasonic anemometer, to collect high-resolution data on the inertial states, wind speed, and power consumption. Operational parameters, such as commanded ground speed, payload, and cruise altitude, were varied for each flight. This large data set has a total flight time of 10 hours and 45 minutes and was collected from April to October of 2019 covering a total distance of approximately 65 kilometers. The data collected were validated by comparing flights with similar operational parameters. We believe these data will be of great interest to the research and industrial communities, who can use the data to improve UAV designs, safety, and energy efficiency, as well as advance the physical understanding of in-flight operations for package delivery drones.

42 ENGINEERING↗
DOE OSTI2026

Adaptive Reinforcement Learning (ARL) Control of a Multi-port Resonant Converter in UAV Systems

This study presents an adaptive reinforcement learning (ARL) control framework for a multi-port resonant converter used in hybrid unmanned aerial vehicle (UAV) power systems. The converter integrates high-frequency half-bridge input ports connected to a rectified engine–generator set and a battery energy storage system, along with a semi-bridgeless active rectifier supplying the propulsion load. A deep RL agent is trained to dynamically regulate inter-port phase-shift commands in real time based on flight conditions and load power demand. The ARL controller autonomously identifies phase-shift combinations that maximize conversion efficiency while maintaining stable and coordinated power flow, even under rapidly varying operating scenarios. This data-driven approach eliminates the need for explicit system modeling or extensive manual tuning and enables coordinated control among multiple power ports without inter-port communication. Experimental results validate that the ARL based strategy achieves reliable power sharing and consistently high-efficiency operation across diverse UAV operating conditions.

Asa, Erdem [ORNL] (ORCID:0000000190884812)↗
DOE OSTI2025

Multi-phase Wireless Power Transfer with High Power Density Inductive Coils for Electric Drone Charging

Wireless charging of unmanned ground vehi-cles and aircraft has been proposed to increase charging reliability and security, allow for autonomous functionality, and either reduce battery size or increase continuous flight time. This paper proposes a three-phase Litz wire primary and a two-phase PCB secondary for high secondary-side power density considering misalignment tolerances, surface and volumetric power density, and coil sizing. Elec-tromagnetic 3D finite element analysis (FEA) simulations are conducted to study variation in mutual inductance and coupling coefficient with different secondary coil sizes and number of turns, horizontal and vertical misalignment between the primary and secondary, and a combination of both for a set of designs with the same rated power. Results indicate that receiver coils of reduced size relative to the primary can deliver rated power for increased power density and higher tolerance to misalignment.

Gastineau, Lucas [University of Kentucky]↗
DOE OSTI2022

Autonomous Aerial Power Plant Inspection in GPS-denied Environments

Inspection of coal-fired power plants is frequently dangerous, includes difficult places to reach, and can turn expensive due to the downtimes and cost of inspection crew. Robotic systems have shown capabilities to address some of these issues, but most of the current robotic inspection technology in power plants is designed for specific components. Conversely, recent advances in machine vision have empowered aerial platforms for long-range, remotely-controlled, GPS-based inspections of industrial plants. This capability has led to wide spread utilization of aerial robots (commonly termed Drones, UVS or UAS) platforms for inspection in less challenging environments where both collision avoidance, and GPS reception are not significant issues. The challenge in adapting airborne technology for power plant inspection lies in internal structures and the complex network of piping, and distribution systems, which impose significant risks for collision and can hinder the reception and transmission of GPS signals. The current state of the art in aerial inspection technology within the energy sector is controlled via radio control, and utilizes GPS-based navigation, for inspection of large-scale plants such as offshore platforms and wind turbine parks. Nevertheless, close-range and autonomous inspection in the GPS-denied environments of power plants has not yet been achieved, as it requires precise guidance and navigation with real-time situational awareness and obstacle avoidance capabilities. This endeavor introduced the use of rotary wing flying robots, due to their station keeping and vertical take-off capabilities for power plant components inspection. To enable close quarter inspection two methods were used. One method uses the 3D CAD (Three-dimensional Computer-Aided Design) model of the asset to inspect to generate the UAV’s inspection path. To acquire, analyze and process the 3D model, first, the STL file is produced to obtain surface points and vectors normal to the surface. Later, by introducing other variables such as wall offset and a controlled trajectory between each outline and each subsequent layer, the flight path is generated. The proposed framework will generate a path that will pass as close as desired from the surface and navigate in intricate environments. A second method, use advanced manufacturing techniques such as CNC (Computer Numerical Control) and additive manufacturing. Once the inspection flight path is obtained, vision-based navigation systems are employed to have the UAV autonomously tracking the provided trajectory. Finally, Artificial Intelligence-enabled developments are in charge of detecting cracks and corrosion in structural components of power plants. The proposed methods are validated in simulations, laboratory and industrial setups, where it is shown that the developed systems acting together enable close-quarter autonomous aerial inspection and mapping in power plant assets. The system can be further improved by adding more sensors to navigate in different GPS-denied environments, with non-homogeneous lighting conditions, dust and in general situations where vision-based systems may fail.

01 COAL, LIGNITE, AND PEAT↗
DOE OSTI2023

Operational Uncrewed Aircraft Systems Development for Meteorology and Atmospheric Physics Field Campaign Report

The overarching goal of the project is to develop integrated small, unmanned aircraft systems (SUAS) capabilities for enhanced atmospheric physics measurements. This team included atmospheric scientists, meteorologists, engineers, computer scientists, geographers, and chemists necessary to evaluate the needs and develop the advanced sensing and imaging, robust autonomous navigation, enhanced data communication, and data management capabilities required to use SUAS in atmospheric physics. The flight campaigns at the Southern Great Plains (SGP) U.S. Department of Energy Atmospheric Radiation Measurement (ARM) observatory were an integrated evaluation of the systems in coordinated field tests. This enabled sensor testing, and validation of SUAS technology and integration of unmanned aircraft into the airspace. The set of experiments enabled evaluation and progression of remote UAS deployment operations with observing atmospheric sensors. Each flight test endeavor was notable for the significant lessons learned during every deployment event. Team size and roles, equipment use, aircraft instruments, meteorological instruments, and deployment logistics, were all evaluated and improved at every flight-testing day. The details of these are further discussed in the Results section.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Autonomous Emergency Landing for Fixed-Wing Aircraft with Energy-Constrained Closed-Loop Prediction

Here this paper presents a new approach for autonomous motion planning for aircraft suffering from a loss-of-thrust emergency. Specifically, we show how modifications to the Closed-Loop Rapidly exploring Random Trees (CL-RRT) framework combined with controlled energy dissipation can enable rapid and effective kinodynamic motion planning. This CL-RRT Glide algorithm uses closed-loop prediction not only for node connections but also to estimate the remaining energy and prune infeasible paths. This greatly speeds up the search process, which is essential for emergency situations. In addition, we improve the ability of the gliding aircraft to reach a goal position and energy state. We do so by creating a Dissipative Total Energy Control Scheme (TECS). Dissipative TECS enables the glider to lose excess altitude in order to reach a desired energy level. Simulation results illustrate how the proposed methods enable faster motion planning. We also integrate the system into a small unmanned aerial vehicle system and experimentally demonstrate autonomous glide planning and execution during a motor-failure event. This type of algorithm can primarily benefit unmanned aircraft but can also serve to assist pilots in stressful emergency situations.

42 ENGINEERING↗
DOE OSTI2023

Plasma-jet printing of colloidal thermoelectric Bi 2 Te 3 nanoflakes for flexible energy harvesting

Thermoelectric generators (TEGs) convert temperature differences into electrical power and are attractive among energy harvesting devices due to their autonomous and silent operation. While thermoelectric materials have undergone substantial improvements in material properties, a reliable and cost-effective fabrication method suitable for microgravity and space applications remains a challenge, particularly as commercial space flight and extended crewed space missions increase in frequency. This paper demonstrates the use of plasma-jet printing (PJP), a gravity-independent, electromagnetic field-assisted printing technology, to deposit colloidal thermoelectric nanoflakes with engineered nanopores onto flexible substrates at room temperature. We observe substantial improvements in material adhesion and flexibility with less than 2% and 11% variation in performance after 10 000 bending cycles over 25 mm and 8 mm radii of curvature, respectively, as compared to previously reported TE films. Our printed films demonstrate electrical conductivity of 2.5 × 10 3 S m -1 and a power factor of 70 μW m -1 K -2 at room temperature. To our knowledge, these are the first reported values of plasma-jet printed thermoelectric nanomaterial films. This advancement in plasma jet printing significantly promotes the development of nanoengineered 2D and layered materials not only for energy harvesting but also for the development of large-scale flexible electronics and sensors for both space and commercial applications.

99 GENERAL AND MISCELLANEOUS↗