Wind-Field Estimation and Curvature Continuous Path Planning for Low Altitude Urban Aerial Mobility Jay Patrikar CMU-RI-TR-20-30 August 11, 2020 The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh, PA Thesis Committee: Dr. Sebastian Scherer, chair Dr. Maxim Likhachev Dr. David Wettergreen Fahad Islam Submitted in partial fulfillment of the requirements for the degree of Master of Science in Robotics. Copyright c Jay Patrikar