Who We Are

Yale Undergraduate Intelligent Vehicles (InVē) is a robotics group at Yale formed in the fall of 2013. Each year, we integrate design, technology, and engineering into an autonomous vehicle that we enter into national or international robotics competitions. These collegiate competitions help us to develop technical and design skills while engaging with engineering outside of the framework of our formal education. In doing so, we tackle many real-world engineering problems and challenges as we create self-driving vehicles.

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Current Projects



Sailbot -- This Year's Competition

Yale InVē will be competing at the 2018 International Robotic Sailing Regatta, informally known as Sailbot. SailBot aims at allowing student teams from across the globe to construct and compete in friendly, autonomous sailboat racing. The competition started in 2004, when students from the University of British Columbia demonstrated as part of a fourth-year design project that an autonomous sailboat was possible. As a result, formal rules were constructed for friendly autonomous sailboat racing, with the first SailBot competition held in 2006 at Queen’s University in Ontario.

The Yale team will be constructing a vessel for the 2-meter sailing class, and will participate in five events: a fleet race, a station keeping challenge, a navigation challenge, a long distance race, and an autonomous computer vision challenge.

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Sailbot Timeline


Sailbot Kickoff

Assemble the team to begin work on the Sailbot project. Begin algorithm and sailboat design research, studies, and small experiments.

September 2014

Construction of Model Sailbot

We will construct an RC sailboat to experiment with different hardware design decisions. This will allow us to start collecting data from different types of sensors to figure out the control structure of our final design. Begin experimentation with different algorithms for using sensor data for continuous controlling of the sailboat.

December 2014

Construct Prototype of Sailbot Design

Using data and research collected from the model sailboat, we will design, architect, and construct an alpha version of the final sailboat design. Sensors will be attached to the prototype to test developed control algorithms.

May 2015

Finish Final Sailbot

Finish fabrication of chosen sailboat concept, repeat testing on prior design if necessary for mechanical validation.

Fall 2017

Finish Software

Perfect control algorithms on latest boat hull, and test hardware/software on the competition sailboat on the Long Island Sound.

Spring 2018

International Robotic Sailing Regatta (IRSR) 2018

Compete in all events of the 2018 International Robotic Sailboat Regatta.

Spring 2018

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The Sailbot Team

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Tiltrotor -- This Year's Goal

A tiltrotor is a fixed wing aircraft capable of vertical take off and landing like a helicopter by tilting its rotors vertically. Tiltrotors have improved speed and range compared to helicopters but retain the ability to operate in areas without access to runways or landing strips.

The goals of this project are to:
  • Collaborate with YUAA to build a fully functional unmanned tiltrotor
  • Demonstrate the advantages of tiltrotors over helicopters
  • Learn theoretical and practical engineering skills
  • Add semiautonomous capabilities to flight controller
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    Tiltrotor Timeline


    Tiltrotor Kickoff

    September 2017

    Finish Initial Design

    October 2017

    Initial Test Flight

    October 2017

    Full RC Flight Capabilities

    April 2018

    Achieve Semiautonomy

    Fall 2018

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    The Tiltrotor Team

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    The Board & Advisors

    Jonathan Li


    Zach Wright


    Larry Wilen, Ph.D

    Team Advisor

    Acshi Haggenmuller

    Alumni Advisor

    Jack Kelleher

    Alumni Advisor