Autonomous Rotorcraft Project - Retrospective and Future Outlook

Matthew S. Whalley; Marc D. Takahashi; Chad L. Goerzen; Brian T. Fujizawa; Jeffery A. Lusardi; Wesley R. Ogden; Carl R. Ott; James P. Carr IV; David W. Waldman; Gregory J.Schulein; Nathan L. Mielcarek

doi:10.4050/F-0080-2024-1071

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Autonomous Rotorcraft Project - Retrospective and Future Outlook

Matthew S. Whalley, Marc D. Takahashi, Chad L. Goerzen, Brian T. Fujizawa, Jeffery A. Lusardi, Wesley R. Ogden, Carl R. Ott, James P. Carr IV, David W. Waldman, US Army CCDC AvMC

Gregory J.Schulein, San Jose Research Foundation

Nathan L. Mielcarek, Universities Space Research Association

May 7, 2024

https://doi.org/10.4050/F-0080-2024-1071

Abstract:
This paper presents an overview of the Autonomous Rotorcraft Project (ARP), a collaborative research initiative launched by the US Army and NASA in 2000 aimed at advancing rotorcraft autonomy. ARP has made substantial progress in areas such as real-time reactive obstacle-avoidance, threat- and terrain-aware navigation, identification of safe landing zones, autonomous flight-control, external sling-load operations, scalable autonomy, and pilot-autonomy interfaces. These advancements have undergone extensive validation through both simulation and flight test. This paper chronicles ARP's research evolution, highlighting milestones achieved and remaining challenges.