Autonomous landing and control

A computing device, comprising:

• a memory;
• a transceiver;
• and
• a processor coupled to the memory and configured with processor-executable instructions to:
• receive continuous real-time sensor data;
• detect a target landing bay within a plurality of landing bays within a landing zone that is available for landing based on the continuous real-time sensor data;
• calculate an orientation and position coordinates for landing in the target landing bay based on the continuous real-time sensor data;
• obtain information regarding positions and flight vectors of a plurality of other UAVs operating within the landing zone by:
• receiving position and flight vector reports from the plurality of other UAVs via the transceiver,
• wherein the UAV and the plurality of other UAVs are each independently executing a separate flight mission;
• generate a flight plan for landing in the target landing bay based on the orientation and the position coordinates, the positions and flight vector reports of the plurality of other UAVs, and a current orientation and position of the computing device;
• perform the flight plan for landing in the target landing bay;
• determine whether an exception condition is identified based on the continuous real-time sensor data and the flight plan for landing in the target landing bay;
• and
• in response to determining that an exception condition is identified:
• halt performance of the flight plan for landing in the target landing bay;
• and
• perform exception-handling operations based on the identified exception condition, wherein the exception-handling operations include detecting an alternative target landing bay from the plurality of landing bays within the landing zone that is available for landing based on the continuous real-time sensor data by:
• performing operations to adjust a perspective of the UAV independent of any landing routine, the operations comprising one or more of:
• causing the UAV to ascend to a higher altitude above the landing zone, changing a pitch setting of the UAV, changing a roll setting of the UAV, or changing a yaw setting of the UAV;
• and
• obtaining the continuous real-time sensor data in the adjusted perspective.

A non-transitory processor-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of a computing device of an unmanned aerial vehicle (UAV) to perform operations comprising:

• receiving continuous real-time sensor data;
• detecting a target landing bay within a plurality of landing bays within a landing zone that is available for landing based on the continuous real-time sensor data;
• calculating an orientation and position coordinates for landing in the target landing bay based on the continuous real-time sensor data;
• obtaining information regarding positions and flight vectors of a plurality of other UAVs operating within the landing zone, wherein obtaining the information comprises:
• receiving position and flight vector reports from the plurality of other UAVs via a transceiver on board the UAV,
• wherein the UAV and the plurality of other UAVs are each independently executing a separate flight mission;
• generating a flight plan for landing in the target landing bay based on the orientation and the position coordinates, the positions and flight vector reports of the plurality of other UAVs, and a current orientation and position of the UAV;
• performing the flight plan for landing in the target landing bay;
• determining whether an exception condition is identified based on the continuous real-time sensor data and the flight plan for landing in the target landing bay;
• and
• in response to determining that an exception condition is identified:
• halting performance of the flight plan for landing in the target landing bay;
• and
• performing exception-handling operations based on the identified exception condition, wherein the exception-handling operations include detecting an alternative target landing bay from the plurality of landing bays within the landing zone that is available for landing based on the continuous real-time sensor data by:
• performing operations to adjust a perspective of the UAV independent of any landing routine, the operations comprising one or more of:
• causing the UAV to ascend to a higher altitude above the landing zone, changing a pitch setting of the UAV, changing a roll setting of the UAV, or changing a yaw setting of the UAV;
• and
• obtaining the continuous real-time sensor data in the adjusted perspective.

A computing device, comprising:

• means for receiving continuous real-time sensor data;
• means for detecting a target landing bay within a plurality of landing bays within a landing zone that is available for landing based on the continuous real-time sensor data;
• means for calculating an orientation and position coordinates for landing in the target landing bay based on the continuous real-time sensor data;
• means for obtaining information regarding positions and flight vectors of a plurality of other UAVs operating within the landing zone, wherein means for obtaining the information comprises:
• means for receiving position and flight vector reports from the plurality of other UAVs,
• wherein the UAV and the plurality of other UAVs are each independently executing a separate flight mission;
• means for generating a flight plan for landing in the target landing bay based on the orientation and the position coordinates, the positions and flight vector reports of the plurality of other UAVs, and a current orientation and position of the computing device;
• means for performing the flight plan for landing in the target landing bay;
• means for determining whether an exception condition is identified based on the continuous real-time sensor data and the flight plan for landing in the target landing bay;
• means for halting performance of the flight plan for landing in the target landing bay in response to determining that an exception condition is identified;
• and
• means for performing exception-handling operations based on the identified exception condition in response to determining that an exception condition is identified, comprising means for detecting an alternative target landing bay from the plurality of landing bays within the landing zone that is available for landing based on the continuous real-time sensor data, wherein the means for detecting the alternative target landing bay further comprises:
• means for performing operations to adjust a perspective of the UAV independent of any landing routine, comprising one or more of:
• means for causing the UAV to ascend to a higher altitude above the landing zone, means for changing a pitch setting of the UAV, means for changing a roll setting of the UAV, or means for changing a yaw setting of the UAV;
• and
• means for obtaining the continuous real-time sensor data in the adjusted perspective.