Sounds like a fluid leak to me. If it's water, not oil, it could be normal condensation coming from the exhaust system. Otherwise, hard to tell from here. Take it to the dealer and have them check it out.
Hard to beat putting baby up on jackstands and crawling under there with a flashlight.
The lower covers are likely to have moved the drip away from the actual source of the leak, so you'll have to remove at least the big one. On mine, it has (15) TP-27 sheet metal screws.