Ariel and Caliban were the names of the two autonomous rotorcraft prototypes that were built for this project. They were modified Yamaha RMAX radio-controlled helicopters that had extra planning software and flight control parts added to them. The ARP team was entrusted by NASA with creating, showcasing, and analysing autonomous reasoning systems for rotorcraft. This would carry out NASA's aim to increase its technological know-how in this area. The group would specifically build a flying lab equipped with cutting-edge flight controls, a reactive planner, an all-digital camera system with tracking and passive ranging capabilities, and real-time health monitoring systems .

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