Title Details

Richard H. Blockley, Aerospace Consultant, Cranfield University, UK andformerly Head of Technical Programmes, BAE Systems, Farnborough, UK.

Wei Shyy, Provost and Chair Professor of Mechanical Engineering, Hong Kong University of Science & Technology, China.

Ella Atkins, Associate Professor, Department of Aerospace Engineering at the University of Michigan. Former chair of the AIAA Intelligent Systems Technical Committee, AIAA Associate Fellow, served on the National Academy's Aeronautics and Space Engineering Board (ASEB) 2011-2015.

Anibal Ollero, Center for Advanced Aerospace Technologies, University of Seville, Spain. Co-chair of the IEEE Technical Committee on Aerial Robotics and Unmanned Aerial Vehicles, member of the Board of Directors and coordinator of the Aerial Robotics Topic Group of euRobotics and president of the Spanish Society for Research and Development in Robotics.

Antonios Tsourdos, Professor and Head of the Centre for Autonomous and Cyberphysical System, Cranfield University, UK. Vice-Chair of the IFAC Technical Committees on Aerospace Control, member of the IFAC Technical Committee on Intelligent Autonomous Vehicles and the AIAA Unmanned Systems Program Committee.

Contributors vii

Foreword xiii

Preface xv

Part 1 Introductory 1

1 UAS Uses, Capabilities, Grand Challenges 3

Part 2 Missions 15

2 Remote Sensing Methodology for Unmanned Aerial Systems 17

3 Autonomous Parachute-Based Precision Delivery Systems 29

4 Networked Multiple UAS 53

5 Weapons Integration 63

Part 3 Airframe Configurations 73

6 Classes and Missions of UAVs 75

7 Launch of UAVs 85

8 Recovery of UAVs 93

9 Development of Centimeter-Sized Aerial Vehicles 101

Part 4 UAS Design and Subsystems 111

10 Overview of UAS Control Stations 113

11 Propulsion Systems 125

12 Power Generation and Energy Management 133

13 Control System Mechanization 153

Part 5 Autonomy 165

14 Relative Navigation in GPS-Degraded Environments 167

15 Target Detection and Mission Planning Based on Pigeon-Inspired Optimization 177

16 Autonomy Architectures 197

17 Obstacle Avoidance: Static Obstacles 211

18 Guided Weapon and UAV Navigation and Path-Planning 217

19 Embedded UAS Autopilot and Sensor Systems 231

Part 6 Control 249

20 Modeling and Frequency-Domain Parameter Identification of a Small-Scale Flybarless Unmanned Helicopter 251

21 Trajectory Planning and Guidance 279

22 Sensor Fusion 295

Part 7 Human Oversight 317

23 Function Allocation between Human and Automation and between Air and Ground 319

24 Coordination with Manned Aircraft and Air Traffic Control 327

25 Aircraft Pilot and Operator Interfaces 335

Part 8 Multi-Vehicle Cooperation and Coordination 345

26 Multi-UAV Cooperation 347

27 Coordinated Standoff Tracking of Moving Ground Targets Using Multiple UAVs 357

28 Distributed Situational Awareness and Control 371

29 Cooperative Search, Reconnaissance, Surveillance 383

30 UAV Swarms: Decision-Making Paradigms 397

31 Integrated Health Monitoring for Multiple Air Vehicles 411

32 Cooperative Control for Multiple Air Vehicles 425

33 Flight Formation Control 435

Part 9 Airspace Access 447

34 Operational Profiles of Unmanned Aircraft Systems in the Context of the US Regulatory Regime 449

35 High Altitude: Among and Above Commercial Transport 465

36 Low-Altitude Rural to Urban Unmanned Aircraft System Operations 475

37 UAS in the Terminal Area: Challenges and Opportunities 489

38 Unmanned Aircraft Systems Operations in US Airspace 507

39 Aircraft Communications and Networking 523

40 Sense-and-Avoid System Based on Radar and Cooperative Sensors 533

41 Standards and Interoperability: A Systems Engineering Perspective 547

Part 10 Integration Issues: Safety, Security, Privacy 559

42 Unmanned Aircraft Systems (UAS) – Regulatory Policy and Processes: A Moving Landscape – A US Perspective 561

43 Requirements: Levels of Safety 579

44 Insurance as a Mission Enabler 589

45 Fail-Safe Systems from a UAS Guidance Perspective 599

46 UAS Reliability and Risk Analysis 615

47 Sense and Avoid: Systems and Methods 627

48 System and Cyber Security: Requirements, Modeling, and Management 637

49 Social and Legal Issues 651

Subject Index 661