Modular rotorcraft and system for air-delivered effects or sensor payloads

1 . A tactically deployable rotorcraft for targeted delivery of effects and/or sensors, comprising:

a body housing an energy subsystem, a propulsion and flight control subsystem, and a payload compartment for holding a mission computer, payload controller, communication components, multi-modal sensors, and a modular effect or sensor payload, the body having a generally cylindrical outline and a plurality of arm-rotor niches in the generally cylindrical outline; and

a plurality of arm-rotor assemblies pivotably mounted to the body, each arm-rotor assembly including an articulating arm and a rotor at a distal end of the articulating arm, each arm-rotor assembly being pivotable between (1) a closed position in a corresponding arm-rotor niche and within the generally cylindrical outline of the body, and (2) an open position extending from the body with the rotor oriented for controlled and stable flight at relative angular offset to both the body and other coordinated rotors, the rotors being powered by the energy subsystem and controlled by the propulsion and flight control subsystem to provide powered flight of the rotorcraft to a target location for delivery of the effect or sensor payload,

the payload controller being capable of automatically adapting and tailoring mission, flight, and autonomous employment characteristic of the rotorcraft based on the equipped effect or sensor payload,

wherein, for each of the arm-rotor assemblies in the open position:

the arm of the arm-rotor assembly extends in a forward direction having a non-zero angle ψ relative to a transverse direction perpendicular to an axis of the rotorcraft; and

the rotor of the arm-rotor assembly is configured to be canted about an arm axis at a non-zero angle φ from a plane of the arm, the angles ψ and φ both being in a range of 0 to 45 degrees.

2 . The tactically deployable rotorcraft of claim 1 , wherein each arm-rotor assembly makes a complete compound angular kinematic motion during extension from closed to open positions, and wherein (1) in the open position each rotor is set at fixed pose relative to a center of the body and coordinated pairs of arm-rotor assembles, and (2) in the open position a position of the rotors reflects a thrust vector that is at a fixed angular offset to the center of the body in at least one degree of freedom.

3 . The tactically deployable rotorcraft of claim 1 , wherein, at a maximum angle of extension, each of the rotors is oriented relative to a center of the body to deliver thrust both vertically and laterally enabling the ability to translate with reduced center body tilt.

4 . The tactically deployable rotorcraft of claim 1 , further including, for each of the arm-rotor assemblies, a respective extension mechanism configured and operative to effect the pivoting between the closed and open positions.

5 . The tactically deployable rotorcraft of claim 4 , wherein each of the extension mechanisms is a passive mechanism.

6 . The tactically deployable rotorcraft of claim 5 , wherein the passive mechanism employs a spring urging the respective arm-rotor assembly toward the open position.

7 . The tactically deployable rotorcraft of claim 4 , wherein each of the extension mechanisms is an active mechanism.

8 . The tactically deployable rotorcraft of claim 7 , wherein the active mechanism includes a solenoid operative to extend the respective rotor arm in response to a control input from the propulsion and flight control subsystem.

9 . The tactically deployable rotorcraft of claim 1 , further including a multi-modal communications systems enabling remote tasking and aircraft-to-aircraft information exchange.

10 . The tactically deployable rotorcraft of claim 1 , wherein the energy subsystem includes a power control system with power management enabling power conservation for extended periods of persistence and features providing power scavenging.

11 . The tactically deployable rotorcraft of claim 1 , wherein the payload compartment provides modular mission payload capability without requiring physical modification to the body, the energy subsystem, and the propulsion and flight control subsystem.

12 . The tactically deployable rotorcraft of claim 1 , having interfaces and vehicle-to-vehicle networking communications to enable cooperative behaviors among swarms of the rotorcraft using a shared world model/operating picture, and further implement distributed tasking in alignment with predetermined tactics, techniques, and procedures specific to a mission objective with or without human agent oversight.

13 . A system for targeted delivery of effects and/or sensors, comprising:

a plurality of tactically deployable rotorcrafts each having an energy subsystem, a control and communications subsystem, a payload compartment for holding an effect or sensor payload, and a plurality of arm-rotor assemblies mounted to a body to present respective rotors in a flight orientation for powered flight of the rotorcraft; and

a system controller being co-configured and co-operable with the control and communications subsystems of the rotorcrafts to provide for automated and coordinated thrust-vector maneuvering of the rotorcrafts from respective deployment positions to respective target positions and coordinated delivery of the effects and/or sensors at the respective target positions;

wherein, for each of the arm-rotor assemblies in an open position:

an arm of the arm-rotor assembly extends in a forward direction having a non-zero angle ψ relative to a transverse direction perpendicular to an axis of the rotorcraft; and

a rotor of the arm-rotor assembly is configured to be canted about an arm axis at a non-zero angle φ from a plane of the arm, the angles ψ and φ both being in a range of 0 to 45 degrees.

14 . The system of claim 13 , wherein the control and communications subsystem of each rotorcraft includes a multi-modal communications systems enabling remote tasking and aircraft-to-aircraft information exchange.

15 . The system of claim 13 , wherein the energy subsystem of each rotorcraft includes a power control system with power management providing power scavenging and power conservation for extended periods of persistence.

16 . The system of claim 13 , wherein the payload compartment of each rotorcraft provides modular mission payload capability without requiring physical modification to the body, the energy subsystem, and the control and communications subsystem.

17 . The system of claim 13 , wherein the control and communications subsystem of each rotorcraft implements interfaces and vehicle-to-vehicle networking communications to enable cooperative behaviors among swarms of the rotorcraft using a shared world model/operating picture, and further implement distributed tasking in alignment with predetermined tactics, techniques, and procedures specific to a mission objective with or without human agent oversight.

18 . The tactically deployable rotorcraft of claim 1 , wherein the axis of the rotorcraft is a central body axis defined by the body; and

wherein, for each of the arm-rotor assemblies in an open position:

the arm of the arm-rotor assembly extends outward from the body in the forward direction having the non-zero angle ψ.