This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can be conceived as the solution to a novel differential game formulation of collision avoidance, and has several intuitive properties including maximising the instantaneous range acceleration in situations where the hazard is stationary or has a finite turn rate. The performance of the bearing-only strategy is illustrated in simulations based on test cases drawn from draft minimum operating performance standards for unmanned aircraft detect and avoid systems.
Due to the rapid development technologies for small unmanned aircraft systems (sUAS), the supply and demand market for sUAS is expanding globally. With the great number of sUAS ready to fly in civilian airspace, an sUAS aircraft traffic management system that can guarantee the safe and efficient operation of sUAS is still at absence. In this paper, we propose a control protocol design and analysis method for sUAS traffic management (UTM) which can safely manage a large number of sUAS. The benefits of our approach are two folds: at the top level, the effort for monitoring sUAS traffic (authorit…
Aeronautical Mobile Airport Communications System (AeroMACS) is based on the IEEE 802.16e mobile wireless standard commonly known as WiMAX. It is expected to be the main part of the next-generation aviation communication system to support fixed and mobile services for manned and unmanned applications. AeroMACS will be an essential technology helping pave the way toward full integration of Unmanned Aircraft Vehicle (UAV) into the national airspace. A number of practical tests and analyses have been done so far for AeroMACS. The main contribution of this paper is to consider the theoretical conc…
An unmanned aircraft system (UAS) consists of an unmanned aerial vehicle (UAV) and its controller which use radios to communicate. While the remote controller (RC) is traditionally operated by a person who is maintaining visual line of sight with the UAV it controls, the trend is moving towards long-range control and autonomous operation. To enable this, reliable and widely available wireless connectivity is needed because it is the only way to manually control a UAV or take control of an autonomous UAV flight. This article surveys the ongoing Third Generation Partnership Project (3GPP) standa…
This survey studies the potential data link candidates for unmanned aircraft vehicles (UAVs). There has been tremendous growth in different applications of UAVs such as lifesaving and rescue missions, commercial use, recreations, etc. Unlike the traditional wireless communications, the data links for these systems do not have any general standardized framework yet to ensure safe co-existence of UAVs with other flying vehicles. This motivated us to provide a comprehensive survey of potential data link technologies available for UAVs. Our goal is to study the current trends and available candida…
This paper develops and evaluates the performance of an allocation agent to be potentially integrated into the onboard Detect and Avoid (DAA) computer of an Unmanned Aircraft System (UAS). We consider a UAS that can be fully controlled by the onboard DAA system and by a remote human pilot. With a communication channel prone to latency, we consider a mixed initiative interaction environment, where the control authority of the UAS is dynamically allocated by the allocation agent. In an encounter with a dynamic intruder, the probability of collision may increase in the absence of pilot commands i…
A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies robustness requirements to ensure safe performance under varying environmental conditions. Extensive mathematical derivations, which have formerly been carried out manually, are checked for their correctness on a computer. To illustrate the proceedures, a higher-order logic interactive theorem-prover and an automated theorem-prover are utilized to formally veri…
Aircraft collision avoidance systems have long been a key factor in keeping our airspace safe. Over the past decade, the FAA has supported the development of a new family of collision avoidance systems called the Airborne Collision Avoidance System X (ACAS X), which model the collision avoidance problem as a Markov decision process (MDP). Variants of ACAS X have been created for both manned (ACAS Xa) and unmanned aircraft (ACAS Xu and ACAS sXu). The variants primarily differ in the types of collision avoidance maneuvers they issue. For example, ACAS Xa issues vertical collision avoidance advis…
MAT-Fly: An Educational Platform for Simulating Unmanned Aerial Vehicles Aimed to Detect and Track Moving Objects
Faculty of Electrical Engineering, Czech Technical University in Prague（布拉格捷克技术大学电气工程系）；Department of Engineering, University of Sannio in Benevento, Piazza Roma 21（巴内维诺萨恩尼奥大学工程系，罗马广场21号）
New methodologies will be needed to ensure the airspace remains safe and efficient as traffic densities rise to accommodate new unmanned operations. This paper explores how unmanned free-flight traffic may operate in dense airspace. We develop and analyze autonomous collision avoidance systems for aircraft operating in dense airspace where traditional collision avoidance systems fail. We propose a metric for quantifying the decision burden on a collision avoidance system as well as a metric for measuring the impact of the collision avoidance system on airspace. We use deep reinforcement learni…
University of Pennsylvania（宾夕法尼亚大学）；University of California, Berkeley（加州大学伯克利分校）；Oregon State University（俄勒冈州立大学）
With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air traffic management, UAM requires decentralized autonomous approaches that scale for an order of magnitude higher aircraft densities and are applicable to urban settings. We present Learning-to-Fly (L2F), a decentralized on-demand airborne collision avoidance framework for multiple UAS that allows them to independently plan and safely execute missions with spati…
