EDITORS ELLA ATKINSANÍBAL OLLEROANTONIOS TSOURDOS

• Contributors viiForeword xiiiPreface xvPart 1 Introductory 11 UAS Uses, Capabilities, Grand Challenges 3Part 2 Missions 152 Remote Sensing Methodology for Unmanned Aerial Systems 173 Autonomous Parachute-Based Precision Delivery Systems 294 Networked Multiple UAS 535 Weapons Integration 63Part 3 Airframe Configurations 736 Classes and Missions of UAVs 757 Launch of UAVs 858 Recovery of UAVs 939 Development of Centimeter-Sized Aerial Vehicles 101Part 4 UAS Design and Subsystems 11110 Overview of UAS Control Stations 11311 Propulsion Systems 12512 Power Generation and Energy Management 13313 Control System Mechanization 153Part 5 Autonomy 16514 Relative Navigation in GPS-Degraded Environments 16715 Target Detection and Mission Planning Based on Pigeon-Inspired Optimization 17716 Autonomy Architectures 19717 Obstacle Avoidance: Static Obstacles 21118 Guided Weapon and UAV Navigation and Path-Planning 21719 Embedded UAS Autopilot and Sensor Systems 231Part 6 Control 24920 Modeling and Frequency-Domain Parameter Identification of a Small-Scale Flybarless Unmanned Helicopter 25121 Trajectory Planning and Guidance 27922 Sensor Fusion 295Part 7 Human Oversight 31723 Function Allocation between Human and Automation and between Air and Ground 31924 Coordination with Manned Aircraft and Air Traffic Control 32725 Aircraft Pilot and Operator Interfaces 335Part 8 Multi-Vehicle Cooperation and Coordination 34526 Multi-UAV Cooperation 34727 Coordinated Standoff Tracking of Moving Ground Targets Using Multiple UAVs 35728 Distributed Situational Awareness and Control 37129 Cooperative Search, Reconnaissance, Surveillance 38330 UAV Swarms: Decision-Making Paradigms 39731 Integrated Health Monitoring for Multiple Air Vehicles 41132 Cooperative Control for Multiple Air Vehicles 42533 Flight Formation Control 435Part 9 Airspace Access 44734 Operational Profiles of Unmanned Aircraft Systems in the Context of the US Regulatory Regime 44935 High Altitude: Among and Above Commercial Transport 46536 Low-Altitude Rural to Urban Unmanned Aircraft System Operations 47537 UAS in the Terminal Area: Challenges and Opportunities 48938 Unmanned Aircraft Systems Operations in US Airspace 50739 Aircraft Communications and Networking 52340 Sense-and-Avoid System Based on Radar and Cooperative Sensors 53341 Standards and Interoperability: A Systems Engineering Perspective 547Part 10 Integration Issues: Safety, Security, Privacy 55942 Unmanned Aircraft Systems (UAS) – Regulatory Policy and Processes: A Moving Landscape – A US Perspective 56143 Requirements: Levels of Safety 57944 Insurance as a Mission Enabler 58945 Fail-Safe Systems from a UAS Guidance Perspective 59946 UAS Reliability and Risk Analysis 61547 Sense and Avoid: Systems and Methods 62748 System and Cyber Security: Requirements, Modeling, and Management 63749 Social and Legal Issues 651Subject Index 661

EDITORS ELLA ATKINSANÍBAL OLLEROANTONIOS TSOURDOS

• Contributors viiForeword xiiiPreface xvPart 1 Introductory 11 UAS Uses, Capabilities, Grand Challenges 3Part 2 Missions 152 Remote Sensing Methodology for Unmanned Aerial Systems 173 Autonomous Parachute-Based Precision Delivery Systems 294 Networked Multiple UAS 535 Weapons Integration 63Part 3 Airframe Configurations 736 Classes and Missions of UAVs 757 Launch of UAVs 858 Recovery of UAVs 939 Development of Centimeter-Sized Aerial Vehicles 101Part 4 UAS Design and Subsystems 11110 Overview of UAS Control Stations 11311 Propulsion Systems 12512 Power Generation and Energy Management 13313 Control System Mechanization 153Part 5 Autonomy 16514 Relative Navigation in GPS-Degraded Environments 16715 Target Detection and Mission Planning Based on Pigeon-Inspired Optimization 17716 Autonomy Architectures 19717 Obstacle Avoidance: Static Obstacles 21118 Guided Weapon and UAV Navigation and Path-Planning 21719 Embedded UAS Autopilot and Sensor Systems 231Part 6 Control 24920 Modeling and Frequency-Domain Parameter Identification of a Small-Scale Flybarless Unmanned Helicopter 25121 Trajectory Planning and Guidance 27922 Sensor Fusion 295Part 7 Human Oversight 31723 Function Allocation between Human and Automation and between Air and Ground 31924 Coordination with Manned Aircraft and Air Traffic Control 32725 Aircraft Pilot and Operator Interfaces 335Part 8 Multi-Vehicle Cooperation and Coordination 34526 Multi-UAV Cooperation 34727 Coordinated Standoff Tracking of Moving Ground Targets Using Multiple UAVs 35728 Distributed Situational Awareness and Control 37129 Cooperative Search, Reconnaissance, Surveillance 38330 UAV Swarms: Decision-Making Paradigms 39731 Integrated Health Monitoring for Multiple Air Vehicles 41132 Cooperative Control for Multiple Air Vehicles 42533 Flight Formation Control 435Part 9 Airspace Access 44734 Operational Profiles of Unmanned Aircraft Systems in the Context of the US Regulatory Regime 44935 High Altitude: Among and Above Commercial Transport 46536 Low-Altitude Rural to Urban Unmanned Aircraft System Operations 47537 UAS in the Terminal Area: Challenges and Opportunities 48938 Unmanned Aircraft Systems Operations in US Airspace 50739 Aircraft Communications and Networking 52340 Sense-and-Avoid System Based on Radar and Cooperative Sensors 53341 Standards and Interoperability: A Systems Engineering Perspective 547Part 10 Integration Issues: Safety, Security, Privacy 55942 Unmanned Aircraft Systems (UAS) – Regulatory Policy and Processes: A Moving Landscape – A US Perspective 56143 Requirements: Levels of Safety 57944 Insurance as a Mission Enabler 58945 Fail-Safe Systems from a UAS Guidance Perspective 59946 UAS Reliability and Risk Analysis 61547 Sense and Avoid: Systems and Methods 62748 System and Cyber Security: Requirements, Modeling, and Management 63749 Social and Legal Issues 651Subject Index 661

EDITORS ELLA ATKINSANÍBAL OLLEROANTONIOS TSOURDOS

• Contributors viiForeword xiiiPreface xvPart 1 Introductory 11 UAS Uses, Capabilities, Grand Challenges 3Part 2 Missions 152 Remote Sensing Methodology for Unmanned Aerial Systems 173 Autonomous Parachute-Based Precision Delivery Systems 294 Networked Multiple UAS 535 Weapons Integration 63Part 3 Airframe Configurations 736 Classes and Missions of UAVs 757 Launch of UAVs 858 Recovery of UAVs 939 Development of Centimeter-Sized Aerial Vehicles 101Part 4 UAS Design and Subsystems 11110 Overview of UAS Control Stations 11311 Propulsion Systems 12512 Power Generation and Energy Management 13313 Control System Mechanization 153Part 5 Autonomy 16514 Relative Navigation in GPS-Degraded Environments 16715 Target Detection and Mission Planning Based on Pigeon-Inspired Optimization 17716 Autonomy Architectures 19717 Obstacle Avoidance: Static Obstacles 21118 Guided Weapon and UAV Navigation and Path-Planning 21719 Embedded UAS Autopilot and Sensor Systems 231Part 6 Control 24920 Modeling and Frequency-Domain Parameter Identification of a Small-Scale Flybarless Unmanned Helicopter 25121 Trajectory Planning and Guidance 27922 Sensor Fusion 295Part 7 Human Oversight 31723 Function Allocation between Human and Automation and between Air and Ground 31924 Coordination with Manned Aircraft and Air Traffic Control 32725 Aircraft Pilot and Operator Interfaces 335Part 8 Multi-Vehicle Cooperation and Coordination 34526 Multi-UAV Cooperation 34727 Coordinated Standoff Tracking of Moving Ground Targets Using Multiple UAVs 35728 Distributed Situational Awareness and Control 37129 Cooperative Search, Reconnaissance, Surveillance 38330 UAV Swarms: Decision-Making Paradigms 39731 Integrated Health Monitoring for Multiple Air Vehicles 41132 Cooperative Control for Multiple Air Vehicles 42533 Flight Formation Control 435Part 9 Airspace Access 44734 Operational Profiles of Unmanned Aircraft Systems in the Context of the US Regulatory Regime 44935 High Altitude: Among and Above Commercial Transport 46536 Low-Altitude Rural to Urban Unmanned Aircraft System Operations 47537 UAS in the Terminal Area: Challenges and Opportunities 48938 Unmanned Aircraft Systems Operations in US Airspace 50739 Aircraft Communications and Networking 52340 Sense-and-Avoid System Based on Radar and Cooperative Sensors 53341 Standards and Interoperability: A Systems Engineering Perspective 547Part 10 Integration Issues: Safety, Security, Privacy 55942 Unmanned Aircraft Systems (UAS) – Regulatory Policy and Processes: A Moving Landscape – A US Perspective 56143 Requirements: Levels of Safety 57944 Insurance as a Mission Enabler 58945 Fail-Safe Systems from a UAS Guidance Perspective 59946 UAS Reliability and Risk Analysis 61547 Sense and Avoid: Systems and Methods 62748 System and Cyber Security: Requirements, Modeling, and Management 63749 Social and Legal Issues 651Subject Index 661