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by Plamen Angelov
Sense and Avoid in UAS: Research and Applications
Cover
Series
Title Page
Copyright
Preface
About the Editor
About the Contributors
Part I: Introduction
Chapter 1: Introduction
1.1 UAV versus UAS
1.2 Historical Perspective on Unmanned Aerial Vehicles
1.3 UAV Classification
1.4 UAV Applications
1.5 UAS Market Overview
1.6 UAS Future Challenges
1.7 Fault Tolerance for UAS
Chapter 2: Performance Tradeoffs and the Development of Standards1
2.1 Scope of Sense and Avoid
2.2 System Configurations
2.3 S&A Services and Sub-functions
2.4 Sensor Capabilities
2.5 Tracking and Trajectory Prediction
2.6 Threat Declaration and Resolution Decisions
2.7 Sense and Avoid Timeline
2.8 Safety Assessment
2.9 Modeling and Simulation
2.10 Human Factors
2.11 Standards Process
2.12 Conclusion
Chapter 3: Integration of SAA Capabilities into a UAS Distributed Architecture for Civil Applications
3.1 Introduction
3.2 System Overview
3.3 USAL Concept and Structure
3.4 Flight and Mission Services
3.5 Awareness Category at USAL Architecture
3.6 Conclusions
Acknowledgments
Part II: Regulatory Issues and Human Factors
Chapter 4: Regulations and Requirements
4.1 Background Information
4.2 Existing Regulations and Standards
4.3 Sense and Avoid Requirements
4.4 Human Factors and Situational Awareness Considerations
4.5 Conclusions
Acknowledgments
Chapter 5: Human Factors in UAV
5.1 Introduction
5.2 Teleoperation of UAVs
5.3 Control of Multiple Unmanned Vehicles
5.4 Task-Switching
5.5 Multimodal Interaction with Unmanned Vehicles
5.6 Adaptive Automation
5.7 Automation and Multitasking
5.8 Individual Differences
5.9 Conclusions
Part III: SAA Methodologies
Chapter 6: Sense and Avoid Concepts: Vehicle-Based SAA Systems (Vehicle-to-Vehicle)
6.1 Introduction
6.2 Conflict Detection and Resolution Principles
6.3 Categorization of Conflict Detection and Resolution Approaches
Acknowledgments
Chapter 7: UAS Conflict Detection and Resolution Using Differential Geometry Concepts
7.1 Introduction
7.2 Differential Geometry Kinematics
7.3 Conflict Detection
7.4 Conflict Resolution: Approach I
7.5 Conflict Resolution: Approach II
7.6 CD&R Simulation
7.7 Conclusions
Chapter 8: Aircraft Separation Management Using Common Information Network SAA
8.1 Introduction
8.2 CIN Sense and Avoid Requirements
8.3 Automated Separation Management on a CIN
8.4 Smart Skies Implementation
8.5 Example SAA on a CIN – Flight Test Results
8.6 Summary and Future Developments
Acknowledgments
Part VI: SAA Applications
Chapter 9: AgentFly: Scalable, High-Fidelity Framework for Simulation, Planning and Collision Avoidance of Multiple UAVs
9.1 Agent-Based Architecture
9.2 Airplane Control Concept
9.3 Flight Trajectory Planner
9.4 Collision Avoidance
9.5 Team Coordination
9.6 Scalable Simulation
9.7 Deployment to Fixed-Wing UAV
Acknowledgments
Chapter 10: See and Avoid Using Onboard Computer Vision
10.1 Introduction
10.2 State-of-the-Art
10.3 Visual-EO Airborne Collision Detection
10.4 Image Stabilization
10.5 Detection and Tracking
10.6 Target Dynamics and Avoidance Control
10.7 Hardware Technology and Platform Integration
10.8 Flight Testing
10.9 Future Work
10.10 Conclusions
Acknowledgements
Chapter 11: The Use of Low-Cost Mobile Radar Systems for Small UAS Sense and Avoid
11.1 Introduction
11.2 The UAS Operating Environment
11.3 Sense and Avoid and Collision Avoidance
11.4 Case Study: The Smart Skies Project
11.5 Case Study: Flight Test Results
11.6 Conclusion
Acknowledgements
Epilogue
Index
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