{"product_id":"sense-and-avoid-in-uas-9780470979754","title":"Sense and Avoid in UAS","description":"\u003cb\u003eBook Synopsis\u003c\/b\u003e\u003cbr\u003e\u003cp\u003eThere is increasing interest in the potential of UAV (Unmanned Aerial Vehicle) and MAV (Micro Air Vehicle) technology and their wide ranging applications including defence missions, reconnaissance and surveillance, border patrol, disaster zone assessment and atmospheric research. High investment levels from the military sector globally is driving research and development and increasing the viability of autonomous platforms as replacements for the remotely piloted vehicles more commonly in use.\u003c\/p\u003e \u003cp\u003eUAV\/UAS pose a number of new challenges, with the autonomy and in particular collision avoidance, detect and avoid, or sense and avoid, as the most challenging one, involving both regulatory and technical issues.\u003c\/p\u003e \u003cp\u003e\u003ci\u003eSense and Avoid in UAS: Research and Applications\u003c\/i\u003e covers the problem of detect, sense and avoid in UAS (Unmanned Aircraft Systems) in depth and combines the theoretical and application results by leading academics and researchers from industry and academia.\u003c\/p\u003e \u003cp\u003e\u003cbr\u003e\u003cb\u003eTrade Review\u003c\/b\u003e\u003cbr\u003e\u003c\/p\u003e\u003cp\u003e“This book is a good introductory book for anyone interested in unmanned aerial systems and presents in a very comprehensive manner the challenges associated with the basic task of sense and avoid.”  (\u003ci\u003eT\u003c\/i\u003e\u003ci\u003ehe\u003c\/i\u003e \u003ci\u003eA\u003c\/i\u003e\u003ci\u003eeronautical\u003c\/i\u003e \u003ci\u003eJ\u003c\/i\u003e\u003ci\u003eournal\u003c\/i\u003e\u003ci\u003e, 1 January 2014)\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e\u003ci\u003e \u003c\/i\u003e\u003c\/p\u003e\u003cbr\u003e\u003cbr\u003e\u003cb\u003eTable of Contents\u003c\/b\u003e\u003cbr\u003e\u003cp\u003ePreface xv\u003c\/p\u003e \u003cp\u003eAbout the Editor xix\u003c\/p\u003e \u003cp\u003eAbout the Contributors xxi\u003c\/p\u003e \u003cp\u003ePart I Introduction\u003c\/p\u003e \u003cp\u003e1 Introduction 3\u003c\/p\u003e \u003cp\u003e\u003ci\u003eGeorge Limnaios, Nikos Tsourveloudis and Kimon P. Valavanis\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e1.1 UAV versus UAS 3\u003c\/p\u003e \u003cp\u003e1.2 Historical Perspective on Unmanned Aerial Vehicles 5\u003c\/p\u003e \u003cp\u003e1.3 UAV Classification 9\u003c\/p\u003e \u003cp\u003e1.4 UAV Applications 14\u003c\/p\u003e \u003cp\u003e1.5 UAS Market Overview 17\u003c\/p\u003e \u003cp\u003e1.6 UAS Future Challenges 20\u003c\/p\u003e \u003cp\u003e1.7 Fault Tolerance for UAS 26\u003c\/p\u003e \u003cp\u003eReferences 31\u003c\/p\u003e \u003cp\u003e2 Performance Tradeoffs and the Development of Standards 35\u003c\/p\u003e \u003cp\u003e\u003ci\u003eAndrew Zeitlin\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e2.1 Scope of Sense and Avoid 35\u003c\/p\u003e \u003cp\u003e2.2 System Configurations 36\u003c\/p\u003e \u003cp\u003e2.3 S\u0026amp;A Services and Sub-functions 38\u003c\/p\u003e \u003cp\u003e2.4 Sensor Capabilities 39\u003c\/p\u003e \u003cp\u003e2.4.1 Airborne Sensing 39\u003c\/p\u003e \u003cp\u003e2.4.2 Ground-Based Sensing 41\u003c\/p\u003e \u003cp\u003e2.4.3 Sensor Parameters 41\u003c\/p\u003e \u003cp\u003e2.5 Tracking and Trajectory Prediction 42\u003c\/p\u003e \u003cp\u003e2.6 Threat Declaration and Resolution Decisions 43\u003c\/p\u003e \u003cp\u003e2.6.1 Collision Avoidance 43\u003c\/p\u003e \u003cp\u003e2.6.2 Self-separation 45\u003c\/p\u003e \u003cp\u003e2.6.3 Human Decision versus Algorithm 45\u003c\/p\u003e \u003cp\u003e2.7 Sense and Avoid Timeline 46\u003c\/p\u003e \u003cp\u003e2.8 Safety Assessment 48\u003c\/p\u003e \u003cp\u003e2.9 Modeling and Simulation 49\u003c\/p\u003e \u003cp\u003e2.10 Human Factors 50\u003c\/p\u003e \u003cp\u003e2.11 Standards Process 51\u003c\/p\u003e \u003cp\u003e2.11.1 Description 51\u003c\/p\u003e \u003cp\u003e2.11.2 Operational and Functional Requirements 52\u003c\/p\u003e \u003cp\u003e2.11.3 Architecture 52\u003c\/p\u003e \u003cp\u003e2.11.4 Safety, Performance, and Interoperability Assessments 52\u003c\/p\u003e \u003cp\u003e2.11.5 Performance Requirements 52\u003c\/p\u003e \u003cp\u003e2.11.6 Validation 53\u003c\/p\u003e \u003cp\u003e2.12 Conclusion 54\u003c\/p\u003e \u003cp\u003eReferences 54\u003c\/p\u003e \u003cp\u003e3 Integration of SAA Capabilities into a UAS Distributed\u003c\/p\u003e \u003cp\u003eArchitecture for Civil Applications 55\u003c\/p\u003e \u003cp\u003e\u003ci\u003ePablo Royo, Eduard Santamaria, Juan Manuel Lema, Enric Pastor\u003c\/i\u003e \u003ci\u003eand Cristina Barrado\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e3.1 Introduction 55\u003c\/p\u003e \u003cp\u003e3.2 System Overview 57\u003c\/p\u003e \u003cp\u003e3.2.1 Distributed System Architecture 58\u003c\/p\u003e \u003cp\u003e3.3 USAL Concept and Structure 59\u003c\/p\u003e \u003cp\u003e3.4 Flight and Mission Services 61\u003c\/p\u003e \u003cp\u003e3.4.1 Air Segment 61\u003c\/p\u003e \u003cp\u003e3.4.2 Ground Segment 65\u003c\/p\u003e \u003cp\u003e3.5 Awareness Category at USAL Architecture 68\u003c\/p\u003e \u003cp\u003e3.5.1 Preflight Operational Procedures: Flight Dispatcher 70\u003c\/p\u003e \u003cp\u003e3.5.2 USAL SAA on Airfield Operations 72\u003c\/p\u003e \u003cp\u003e3.5.3 Awareness Category during UAS Mission 75\u003c\/p\u003e \u003cp\u003e3.6 Conclusions 82\u003c\/p\u003e \u003cp\u003eAcknowledgments 82\u003c\/p\u003e \u003cp\u003eReferences 82\u003c\/p\u003e \u003cp\u003ePart II Regulatory Issues and Human Factors\u003c\/p\u003e \u003cp\u003e4 Regulations and Requirements 87\u003c\/p\u003e \u003cp\u003e\u003ci\u003eXavier Prats, Jorge Ramirez, Luis Delgado and Pablo Royo\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e4.1 Background Information 88\u003c\/p\u003e \u003cp\u003e4.1.1 Flight Rules 90\u003c\/p\u003e \u003cp\u003e4.1.2 Airspace Classes 91\u003c\/p\u003e \u003cp\u003e4.1.3 Types of UAS and their Missions 93\u003c\/p\u003e \u003cp\u003e4.1.4 Safety Levels 96\u003c\/p\u003e \u003cp\u003e4.2 Existing Regulations and Standards 97\u003c\/p\u003e \u003cp\u003e4.2.1 Current Certification Mechanisms for UAS 99\u003c\/p\u003e \u003cp\u003e4.2.2 Standardization Bodies and Safety Agencies 102\u003c\/p\u003e \u003cp\u003e4.3 Sense and Avoid Requirements 103\u003c\/p\u003e \u003cp\u003e4.3.1 General Sense Requirements 103\u003c\/p\u003e \u003cp\u003e4.3.2 General Avoidance Requirements 106\u003c\/p\u003e \u003cp\u003e4.3.3 Possible SAA Requirements as a Function of the Airspace Class 108\u003c\/p\u003e \u003cp\u003e4.3.4 Possible SAA Requirements as a Function of the Flight Altitude\u003c\/p\u003e \u003cp\u003eand Visibility Conditions 109\u003c\/p\u003e \u003cp\u003e4.3.5 Possible SAA Requirements as a Function of the Type of Communications Relay 110\u003c\/p\u003e \u003cp\u003e4.3.6 Possible SAA Requirements as a Function of the Automation Level of the UAS 111\u003c\/p\u003e \u003cp\u003e4.4 Human Factors and Situational Awareness Considerations 112\u003c\/p\u003e \u003cp\u003e4.5 Conclusions 113\u003c\/p\u003e \u003cp\u003eAcknowledgments 114\u003c\/p\u003e \u003cp\u003eReferences 115\u003c\/p\u003e \u003cp\u003e5 Human Factors in UAV 119\u003c\/p\u003e \u003cp\u003e\u003ci\u003eMarie Cahillane, Chris Baber and Caroline Morin\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e5.1 Introduction 119\u003c\/p\u003e \u003cp\u003e5.2 Teleoperation of UAVs 122\u003c\/p\u003e \u003cp\u003e5.3 Control of Multiple Unmanned Vehicles 123\u003c\/p\u003e \u003cp\u003e5.4 Task-Switching 124\u003c\/p\u003e \u003cp\u003e5.5 Multimodal Interaction with Unmanned Vehicles 127\u003c\/p\u003e \u003cp\u003e5.6 Adaptive Automation 128\u003c\/p\u003e \u003cp\u003e5.7 Automation and Multitasking 129\u003c\/p\u003e \u003cp\u003e5.8 Individual Differences 131\u003c\/p\u003e \u003cp\u003e5.8.1 Attentional Control and Automation 131\u003c\/p\u003e \u003cp\u003e5.8.2 Spatial Ability 134\u003c\/p\u003e \u003cp\u003e5.8.3 Sense of Direction 135\u003c\/p\u003e \u003cp\u003e5.8.4 Video Games Experience 135\u003c\/p\u003e \u003cp\u003e5.9 Conclusions 136\u003c\/p\u003e \u003cp\u003eReferences 137\u003c\/p\u003e \u003cp\u003ePart III SAA Methodologies\u003c\/p\u003e \u003cp\u003e6 Sense and Avoid Concepts: Vehicle-Based SAA Systems (Vehicle-to-Vehicle) 145\u003c\/p\u003e \u003cp\u003eStepan Kopriva, David  Sislak and Michal Pechoucek\u003c\/p\u003e \u003cp\u003e6.1 Introduction 145\u003c\/p\u003e \u003cp\u003e6.2 Conflict Detection and Resolution Principles 146\u003c\/p\u003e \u003cp\u003e6.2.1 Sensing 146\u003c\/p\u003e \u003cp\u003e6.2.2 Trajectory Prediction 147\u003c\/p\u003e \u003cp\u003e6.2.3 Conflict Detection 148\u003c\/p\u003e \u003cp\u003e6.2.4 Conflict Resolution 149\u003c\/p\u003e \u003cp\u003e6.2.5 Evasion Maneuvers 150\u003c\/p\u003e \u003cp\u003e6.3 Categorization of Conflict Detection and Resolution Approaches 150\u003c\/p\u003e \u003cp\u003e6.3.1 Taxonomy 150\u003c\/p\u003e \u003cp\u003e6.3.2 Rule-Based Methods 151\u003c\/p\u003e \u003cp\u003e6.3.3 Game Theory Methods 152\u003c\/p\u003e \u003cp\u003e6.3.4 Field Methods 153\u003c\/p\u003e \u003cp\u003e6.3.5 Geometric Methods 154\u003c\/p\u003e \u003cp\u003e6.3.6 Numerical Optimization Approaches 156\u003c\/p\u003e \u003cp\u003e6.3.7 Combined Methods 158\u003c\/p\u003e \u003cp\u003e6.3.8 Multi-agent Methods 160\u003c\/p\u003e \u003cp\u003e6.3.9 Other Methods 163\u003c\/p\u003e \u003cp\u003eAcknowledgments 166\u003c\/p\u003e \u003cp\u003eReferences 166\u003c\/p\u003e \u003cp\u003e7 UAS Conflict Detection and Resolution Using Differential Geometry Concepts 175\u003c\/p\u003e \u003cp\u003eHyo-Sang Shin, Antonios Tsourdos and Brian White\u003c\/p\u003e \u003cp\u003e7.1 Introduction 175\u003c\/p\u003e \u003cp\u003e7.2 Differential Geometry Kinematics 177\u003c\/p\u003e \u003cp\u003e7.3 Conflict Detection 178\u003c\/p\u003e \u003cp\u003e7.3.1 Collision Kinematics 178\u003c\/p\u003e \u003cp\u003e7.3.2 Collision Detection 180\u003c\/p\u003e \u003cp\u003e7.4 Conflict Resolution: Approach I 182\u003c\/p\u003e \u003cp\u003e7.4.1 Collision Kinematics 183\u003c\/p\u003e \u003cp\u003e7.4.2 Resolution Guidance 186\u003c\/p\u003e \u003cp\u003e7.4.3 Analysis and Extension 188\u003c\/p\u003e \u003cp\u003e7.5 Conflict Resolution: Approach II 191\u003c\/p\u003e \u003cp\u003e7.5.1 Resolution Kinematics and Analysis 192\u003c\/p\u003e \u003cp\u003e7.5.2 Resolution Guidance 193\u003c\/p\u003e \u003cp\u003e7.6 CD\u0026amp;R Simulation 195\u003c\/p\u003e \u003cp\u003e7.6.1 Simulation Results: Approach I 195\u003c\/p\u003e \u003cp\u003e7.6.2 Simulation Results: Approach II 199\u003c\/p\u003e \u003cp\u003e7.7 Conclusions 200\u003c\/p\u003e \u003cp\u003eReferences 203\u003c\/p\u003e \u003cp\u003e8 Aircraft Separation Management Using Common Information Network SAA 205\u003c\/p\u003e \u003cp\u003e\u003ci\u003eRichard Baumeister and Graham Spence\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e8.1 Introduction 205\u003c\/p\u003e \u003cp\u003e8.2 CIN Sense and Avoid Requirements 208\u003c\/p\u003e \u003cp\u003e8.3 Automated Separation Management on a CIN 212\u003c\/p\u003e \u003cp\u003e8.3.1 Elements of Automated Aircraft Separation 212\u003c\/p\u003e \u003cp\u003e8.3.2 Grid-Based Separation Automation 214\u003c\/p\u003e \u003cp\u003e8.3.3 Genetic-Based Separation Automation 214\u003c\/p\u003e \u003cp\u003e8.3.4 Emerging Systems-Based Separation Automation 216\u003c\/p\u003e \u003cp\u003e8.4 Smart Skies Implementation 217\u003c\/p\u003e \u003cp\u003e8.4.1 Smart Skies Background 217\u003c\/p\u003e \u003cp\u003e8.4.2 Flight Test Assets 217\u003c\/p\u003e \u003cp\u003e8.4.3 Communication Architecture 219\u003c\/p\u003e \u003cp\u003e8.4.4 Messaging System 221\u003c\/p\u003e \u003cp\u003e8.4.5 Automated Separation Implementation 223\u003c\/p\u003e \u003cp\u003e8.4.6 Smart Skies Implementation Summary 223\u003c\/p\u003e \u003cp\u003e8.5 Example SAA on a CIN – Flight Test Results 224\u003c\/p\u003e \u003cp\u003e8.6 Summary and Future Developments 229\u003c\/p\u003e \u003cp\u003eAcknowledgments 231\u003c\/p\u003e \u003cp\u003eReferences 231\u003c\/p\u003e \u003cp\u003ePart IV SAA Applications\u003c\/p\u003e \u003cp\u003e9 AgentFly: Scalable, High-Fidelity Framework for Simulation, Planning and Collision Avoidance of Multiple UAVs 235\u003c\/p\u003e \u003cp\u003e\u003ci\u003eDavid  Sislak, Premysl Volf, Stepan Kopriva and Michal Pechoucek\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e9.1 Agent-Based Architecture 236\u003c\/p\u003e \u003cp\u003e9.1.1 UAV Agents 237\u003c\/p\u003e \u003cp\u003e9.1.2 Environment Simulation Agents 237\u003c\/p\u003e \u003cp\u003e9.1.3 Visio Agents 238\u003c\/p\u003e \u003cp\u003e9.2 Airplane Control Concept 238\u003c\/p\u003e \u003cp\u003e9.3 Flight Trajectory Planner 241\u003c\/p\u003e \u003cp\u003e9.4 Collision Avoidance 245\u003c\/p\u003e \u003cp\u003e9.4.1 Multi-layer Collision Avoidance Architecture 246\u003c\/p\u003e \u003cp\u003e9.4.2 Cooperative Collision Avoidance 247\u003c\/p\u003e \u003cp\u003e9.4.3 Non-cooperative Collision Avoidance 250\u003c\/p\u003e \u003cp\u003e9.5 Team Coordination 252\u003c\/p\u003e \u003cp\u003e9.6 Scalable Simulation 256\u003c\/p\u003e \u003cp\u003e9.7 Deployment to Fixed-Wing UAV 260\u003c\/p\u003e \u003cp\u003eAcknowledgments 263\u003c\/p\u003e \u003cp\u003eReferences 263\u003c\/p\u003e \u003cp\u003e10 See and Avoid Using Onboard Computer Vision 265\u003c\/p\u003e \u003cp\u003e\u003ci\u003eJohn Lai, Jason J. Ford, Luis Mejias, Peter O’Shea and Rod Walker\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e10.1 Introduction 265\u003c\/p\u003e \u003cp\u003e10.1.1 Background 265\u003c\/p\u003e \u003cp\u003e10.1.2 Outline of the SAA Problem 265\u003c\/p\u003e \u003cp\u003e10.2 State-of-the-Art 266\u003c\/p\u003e \u003cp\u003e10.3 Visual-EO Airborne Collision Detection 268\u003c\/p\u003e \u003cp\u003e10.3.1 Image Capture 268\u003c\/p\u003e \u003cp\u003e10.3.2 Camera Model 269\u003c\/p\u003e \u003cp\u003e10.4 Image Stabilization 269\u003c\/p\u003e \u003cp\u003e10.4.1 Image Jitter 269\u003c\/p\u003e \u003cp\u003e10.4.2 Jitter Compensation Techniques 270\u003c\/p\u003e \u003cp\u003e10.5 Detection and Tracking 272\u003c\/p\u003e \u003cp\u003e10.5.1 Two-Stage Detection Approach 272\u003c\/p\u003e \u003cp\u003e10.5.2 Target Tracking 278\u003c\/p\u003e \u003cp\u003e10.6 Target Dynamics and Avoidance Control 278\u003c\/p\u003e \u003cp\u003e10.6.1 Estimation of Target Bearing 278\u003c\/p\u003e \u003cp\u003e10.6.2 Bearing-Based Avoidance Control 279\u003c\/p\u003e \u003cp\u003e10.7 Hardware Technology and Platform Integration 281\u003c\/p\u003e \u003cp\u003e10.7.1 Target\/Intruder Platforms 281\u003c\/p\u003e \u003cp\u003e10.7.2 Camera Platforms 282\u003c\/p\u003e \u003cp\u003e10.7.3 Sensor Pod 286\u003c\/p\u003e \u003cp\u003e10.7.4 Real-Time Image Processing 288\u003c\/p\u003e \u003cp\u003e10.8 Flight Testing 289\u003c\/p\u003e \u003cp\u003e10.8.1 Test Phase Results 290\u003c\/p\u003e \u003cp\u003e10.9 Future Work 290\u003c\/p\u003e \u003cp\u003e10.10 Conclusions 291\u003c\/p\u003e \u003cp\u003eAcknowledgements 291\u003c\/p\u003e \u003cp\u003eReferences 291\u003c\/p\u003e \u003cp\u003e11 The Use of Low-Cost Mobile Radar Systems for Small UAS Sense and Avoid 295\u003c\/p\u003e \u003cp\u003e\u003ci\u003eMichael Wilson\u003c\/i\u003e\u003c\/p\u003e \u003cp\u003e11.1 Introduction 295\u003c\/p\u003e \u003cp\u003e11.2 The UAS Operating Environment 297\u003c\/p\u003e \u003cp\u003e11.2.1 Why Use a UAS? 297\u003c\/p\u003e \u003cp\u003e11.2.2 Airspace and Radio Carriage 297\u003c\/p\u003e \u003cp\u003e11.2.3 See-and-Avoid 297\u003c\/p\u003e \u003cp\u003e11.2.4 Midair Collisions 298\u003c\/p\u003e \u003cp\u003e11.2.5 Summary 299\u003c\/p\u003e \u003cp\u003e11.3 Sense and Avoid and Collision Avoidance 300\u003c\/p\u003e \u003cp\u003e11.3.1 A Layered Approach to Avoiding Collisions 300\u003c\/p\u003e \u003cp\u003e11.3.2 SAA Technologies 300\u003c\/p\u003e \u003cp\u003e11.3.3 The UA Operating Volume 303\u003c\/p\u003e \u003cp\u003e11.3.4 Situation Awareness 304\u003c\/p\u003e \u003cp\u003e11.3.5 Summary 304\u003c\/p\u003e \u003cp\u003e11.4 Case Study: The Smart Skies Project 305\u003c\/p\u003e \u003cp\u003e11.4.1 Introduction 305\u003c\/p\u003e \u003cp\u003e11.4.2 Smart Skies Architecture 305\u003c\/p\u003e \u003cp\u003e11.4.3 The Mobile Aircraft Tracking System 307\u003c\/p\u003e \u003cp\u003e11.4.4 The Airborne Systems Laboratory 310\u003c\/p\u003e \u003cp\u003e11.4.5 The Flamingo UAS 311\u003c\/p\u003e \u003cp\u003e11.4.6 Automated Dynamic Airspace Controller 311\u003c\/p\u003e \u003cp\u003e11.4.7 Summary 312\u003c\/p\u003e \u003cp\u003e11.5 Case Study: Flight Test Results 312\u003c\/p\u003e \u003cp\u003e11.5.1 Radar Characterisation Experiments 312\u003c\/p\u003e \u003cp\u003e11.5.2 Sense and Avoid Experiments 319\u003c\/p\u003e \u003cp\u003e11.5.3 Automated Sense and Avoid 324\u003c\/p\u003e \u003cp\u003e11.5.4 Dynamic Sense and Avoid Experiments 326\u003c\/p\u003e \u003cp\u003e11.5.5 Tracking a Variety of Aircraft 326\u003c\/p\u003e \u003cp\u003e11.5.6 Weather Monitoring 331\u003c\/p\u003e \u003cp\u003e11.5.7 The Future 332\u003c\/p\u003e \u003cp\u003e11.6 Conclusion 333\u003c\/p\u003e \u003cp\u003eAcknowledgements 333\u003c\/p\u003e \u003cp\u003eReferences 334\u003c\/p\u003e \u003cp\u003eEpilogue 337\u003c\/p\u003e \u003cp\u003eIndex 339\u003c\/p\u003e","brand":"John Wiley \u0026 Sons Inc","offers":[{"title":"Default Title","offer_id":49402473677143,"sku":"9780470979754","price":85.46,"currency_code":"GBP","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0817\/1739\/5799\/files\/9780470979754.jpg?v=1730480512","url":"https:\/\/bookcurl.com\/products\/sense-and-avoid-in-uas-9780470979754","provider":"Book Curl","version":"1.0","type":"link"}