《Handbook of Unmanned Aerial Vehicles》
《Handbook of Unmanned Aerial Vehicles》无人驾驶飞行器手册
编者：
Kimon P. Valavanis
George J. Vachtsevanos
出版社：Springer
出版时间：2015年
目录
Volume 1
Section I Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Konstantinos Dalamagkidis, George J. Vachtsevanos and
Kimon P. Valavanis
1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Kimon P. Valavanis and George J. Vachtsevanos
2 Introduction to the Handbook on UAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Kimon P. Valavanis and George J. Vachtsevanos
3 Definitions and Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Konstantinos Dalamagkidis
4 Aviation History and Unmanned Flight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Konstantinos Dalamagkidis
5 Classification of UAVs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Konstantinos Dalamagkidis
6 Military and Civilian Unmanned Aircraft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
George J. Vachtsevanos and Kimon P. Valavanis
Section II UAV Design Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Daniel J. Pack and Graham Drozeski
7 UAV Design Principles: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Kimon P. Valavanis and George J. Vachtsevanos
8 Computational and Experimental Design
of a Fixed-Wing UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Helen Ryaciotaki-Boussalis and Darrell Guillaume
lv
lvi Contents
9 UAV Handbook: Payload Design of Small UAVs. . . . . . . . . . . . . . . . . . . . . . . 143
Scott Gruber, Hyukseong Kwon, Chad Hager,
Rajnikant Sharma, Josiah Yoder, and Daniel Pack
10 Small UAV Design Development and Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Steven A. Brandt
11 Systematic Design Methodology and Construction
of Micro Aerial Quadrotor Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Swee King Phang, Kun Li, Ben M. Chen, and Tong H. Lee
12 Dexterous UAVs for Precision Low-Altitude Flight . . . . . . . . . . . . . . . . . . . 207
Guangying Jiang and Richard M. Voyles
Section III UAV Fundamentals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Isaac I. Kaminer
13 UAV Fundamentals: Introduction .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Kimon P. Valavanis and George J. Vachtsevanos
14 Kinematics and Dynamics of Fixed-Wing UAVs . . . . . . . . . . . . . . . . . . . . . . . 243
Vladimir Dobrokhodov
15 Dynamic Model for a Miniature Aerobatic Helicopter . . . . . . . . . . . . . . . 279
Vladislav Gavrilets
16 Quadrotor Kinematics and Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Caitlin Powers, Daniel Mellinger, and Vijay Kumar
17 Dynamics and Control of FlappingWing MAVs . . . . . . . . . . . . . . . . . . . . . . 329
David B. Doman, Michael W. Oppenheimer, and
David O. Sigthorsson
18 Principles of Guidance, Navigation, and Control of UAVs . . . . . . . . . . . 347
Gabriel Hugh Elkaim, Fidelis Adhika Pradipta Lie,
and Demoz Gebre-Egziabher
Section IV Sensors and Sensing Strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Ben Upcroft and Salah Sukkarieh
19 Sensors and Sensing Strategies: Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . 383
Kimon P. Valavanis and George J. Vachtsevanos
20 Sensors for Missions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Luis Mejias, John Lai, and Troy Bruggemann
21 Inertial Sensor-Based Simultaneous Localization
and Mapping for UAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
Mitch Bryson and Salah Sukkarieh
Contents lvii
22 UAV Localization Using Inertial Sensors and Satellite
Positioning Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Mitch Bryson and Salah Sukkarieh
23 Data Fusion and Tracking with Multiple UAVs . . . . . . . . . . . . . . . . . . . . . . . . 461
Matthew F. Ridley, Ben Upcroft, and Salah Sukkarieh
Section V UAV Propulsion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
George J. Vachtsevanos and Kimon P. Valavanis
24 UAV Propulsion: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Kimon P. Valavanis and George J. Vachtsevanos
25 Power Managements of a Hybrid Electric Propulsion
System Powered by Solar Cells, Fuel Cells, and Batteries
for UAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
Bohwa Lee, Poomin Park, and Chuntaek Kim
Volume 2
Section VI UAV Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
Jonathan P. How
26 UAV Control: Introduction.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527
Kimon P. Valavanis and George J. Vachtsevanos
27 Linear Flight Control Techniques for Unmanned Aerial Vehicles . . . 529
Jonathan P. How, Emilio Frazzoli, and
Girish Vinayak Chowdhary
28 Nonlinear Flight Control Techniques for Unmanned
Aerial Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Girish Vinayak Chowdhary, Emilio Frazzoli,
Jonathan P. How, and Hugh Liu
29 Adaptive Control of Unmanned Aerial Vehicles: Theory
and Flight Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
Suresh K. Kannan, Girish Vinayak Chowdhary, and
Eric N. Johnson
30 Robust and Adaptive ControlMethods for Aerial Vehicles . . . . . . . . . . 675
Eugene Lavretsky
Section VII UAV Communication Issues. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711
EricW. Frew
31 UAV Communication Issues: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 713
Kimon P. Valavanis and George J. Vachtsevanos
lviii Contents
32 Problem of UAV Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
Stephen B. Heppe
33 Cognitive Networking for UAV Swarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749
Christian Wietfeld and Kai Daniel
34 Layered Approach to Networked Command and Control
of Complex UAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 781
Jack Elston, Maciej Stachura, Cory Dixon, Brian Argrow,
and Eric W. Frew
35 Cognitive Radio Architectures for Unmanned Aircraft Systems . . . . 813
Timothy X. Brown, Mark McHenry, and
Suppapol Jaroonvanichkul
Section VIII UAV Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 845
George J. Vachtsevanos and Kimon P. Valavanis
36 UAV Architectures: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 847
Kimon P. Valavanis and George J. Vachtsevanos
37 HDRC3: A Distributed Hybrid Deliberative/Reactive
Architecture for Unmanned Aircraft Systems . . . . . . . . . . . . . . . . . . . . . . . . . 849
Patrick Doherty, Jonas Kvarnstrom¨ , MariuszWzorek,
Piotr Rudol, Fredrik Heintz, and Gianpaolo Conte
38 Classification of Multi-UAV Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 953
Ivan Maza, An´ıbal Ollero, Enrique Casado, and
David Scarlatti
39 Operator Interaction with Centralized Versus
Decentralized UAV Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 977
M. L. Cummings
Section IX UAV Health Management Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 993
Kai Goebel and Michael J. Roemer
40 UAV Health Management Issues: Introduction . . . . . . . . . . . . . . . . . . . . . . . . 995
Kimon P. Valavanis and George J. Vachtsevanos
41 Integrated Vehicle Health and Fault Contingency
Management for UAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 999
Michael J. Roemer and Liang Tang
42 Automated Failure Effect Analysis for PHM of UAV . . . . . . . . . . . . . . . . . 1027
Neal A. Snooke
Contents lix
43 Prognostics Applied to Electric Propulsion UAV . . . . . . . . . . . . . . . . . . . . . . 1053
Kai Goebel and Bhaskar Saha
44 Actuator Fault Detection in UAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1071
Guillaume Ducard
45 Experimental Validation of Fault Detection
and Diagnosis for Unmanned Aerial Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . 1123
Abbas Chamseddine, Mohammad Hadi Amoozgar,
and Youmin Zhang
46 Fault Detection and Diagnosis for NASA GTM UAV
with Dual Unscented Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1157
Youmin M. Zhang
47 Fault Diagnosis of Skew-Configured Inertial Sensor
System for Unmanned Aerial Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1183
Seungho Yoon, Seungkeun Kim, Jonghee Bae, Youdan Kim,
and Eung Tai Kim
Volume 3
Section X UAV Modeling, Simulation, Estimation and
Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213
LoraWeiss
48 UAV Modeling, Simulation, Estimation
and Identification: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1215
Kimon P. Valavanis and George J. Vachtsevanos
49 Flight Dynamics Modeling of Coaxial Rotorcraft UAVs . . . . . . . . . . . . . . 1217
Fei Wang, Jinqiang Cui, Ben M. Chen, and Tong H. Lee
50 Modeling of a Micro UAV with Slung Payload. . . . . . . . . . . . . . . . . . . . . . . . . 1257
Ying Feng, Camille Alain Rabbath, and Chun-Yi Su
51 Command and Control of Autonomous Unmanned Vehicles . . . . . . . . 1273
David H. Scheidt
Section XI MAVs and Bio-inspired UAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1299
Robert C.Michelson
52 MAVs and Bio-inspired UAVs: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 1301
Kimon P. Valavanis and George J. Vachtsevanos
53 Micro Air Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1305
Robert C. Michelson
lx Contents
54 Survey of the Human-Centered Approach to Micro Air Vehicles . . . 1311
Stuart Michelson
55 Development of Insect-Sized MAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1329
Shigeru Sunada, Hao Liu, Hiroshi Tokutake, and
Daisuke Kubo
56 Flapping-Wing Propelled Micro Air Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . 1359
Kevin D. Jones and Max F. Platzer
57 Inventing a Biologically Inspired, Energy-EfficientMicro
Aerial Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1385
Jayant Ratti and George Vachtsevanos
58 Issues Surrounding Communications with Micro Air Vehicles . . . . . . 1415
Christian Michelson
Section XII UAVMission and Path Planning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1441
Camille Alain Rabbath and David Hyunchul Shim
59 UAV Mission and Path Planning: Introduction . . . . . . . . . . . . . . . . . . . . . . . . 1443
Kimon P. Valavanis and George J. Vachtsevanos
60 CooperativeMission Planning forMulti-UAV Teams . . . . . . . . . . . . . . . . . 1447
Sameera S. Ponda, Luke B. Johnson, Alborz Geramifard,
and Jonathan P. How
61 Multi-team Consensus Bundle Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1491
Matthew E. Argyle, RandalW. Beard, and DavidW. Casbeer
62 CooperativeMission and Path Planning for a Team of UAVs . . . . . . . . 1509
Hyondong Oh, Hyo-Sang Shin, Seungkeun Kim,
Antonios Tsourdos, and Brian A. White
63 Cooperative Task Assignment and Path Planning
for Multiple UAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1547
Sangwoo Moon, David Hyunchul Shim, and Eunmi Oh
64 On the Decentralized Cooperative Control of Multiple
Autonomous Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1577
Michael J. Hirsch and Daniel Schroeder
65 Innovative Collaborative Task Allocation for UAVs . . . . . . . . . . . . . . . . . . . 1601
Sertac Karaman, Emre Koyuncu, and Gokhan Inalhan
66 Control of Communication Networks for Teams of UAVs . . . . . . . . . . . . 1619
Andrew Kopeikin, Sameera S. Ponda, and Jonathan P. How
67 Information-Theoretic Exploration of Unmanned Aerial
Vehicle in Unknown Cluttered Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . 1655
Kwangjin Yang, Seng Keat Gan, and Salah Sukkarieh
Contents lxi
68 Implementing Dubins Airplane Paths on Fixed-Wing UAVs . . . . . . . . . 1677
Mark Owen, Randal W. Beard, and TimothyW. McLain
69 Health Monitoring of a Drone Formation Affected
by a Corrupted Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1703
Nicolas L´echevin, Camille Alain Rabbath, and
Patrick Maupin
Section XIII UAV Autonomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1721
Christos Cassandras, David Casta˜n´on and LoraWeiss
70 UAV Autonomy: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1723
Kimon P. Valavanis and George J. Vachtsevanos
71 Integrated Hardware/Software Architectures to Enable
UAVs for Autonomous Flight. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1725
Charles Pippin
72 Distributed Optimization of Autonomous UAVs with
Event-Driven Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1749
Minyi Zhong and Christos G. Cassandras
73 UAV Guidance Algorithms via Partially Observable
Markov Decision Processes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1775
Shankarachary Ragi and Edwin K. P. Chong
Volume 4
Section XIV UAV Sense, Detect and Avoid Systems . . . . . . . . . . . . . . . . . . . . . . . 1811
Lennaert Speijker
74 UAV Sense, Detect and Avoid: Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1813
Kimon P. Valavanis and George J. Vachtsevanos
75 Development of a Regulatory Safety Baseline for UAS
Sense and Avoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1817
Ahmet Oztekin and RomboutWever
76 Achieving Sense and Avoid for Unmanned Aircraft
Systems: Assessing the Gaps for Science and Research.. . . . . . . . . . . . . . 1841
K. Douglas Davis and Stephen P. Cook
77 Automatic Traffic Alert and Collision Avoidance System
(TCAS) Onboard UAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1857
J¨org Meyer, Matthias G¨ottken, Christoph Vernaleken, and
Simon Sch¨arer
lxii Contents
78 Test Flights to Demonstrate Effectiveness of a
Ground-Based Detect and Avoid Integration Concept . . . . . . . . . . . . . . . . 1873
Andreas Udovic, Hans de Jong, and J¨urgen Vielhauer
79 Scalable RADAR-Based Sense-and-Avoid System
for Unmanned Aircraft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1895
Allistair Moses, Matthew J. Rutherford, and
Kimon P. Valavanis
80 Assessment of Detect and Avoid Solutions for Use of
Unmanned Aircraft Systems in Nonsegregated Airspace. . . . . . . . . . . . . 1955
JoramVerstraeten,Martijn Stuip, and Tom van Birgelen
Section XV Networked UAVs and UAV Swarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1981
Randal Beard and Camille Alain Rabbath
81 Networked UAVs and UAV Swarms: Introduction . . . . . . . . . . . . . . . . . . . . 1983
Kimon P. Valavanis and George J. Vachtsevanos
82 UAV Swarms: Models and Effective Interfaces . . . . . . . . . . . . . . . . . . . . . . . . 1987
Airlie Chapman and Mehran Mesbahi
83 Decentralized Multi-UAV Coalition Formation with
Limited Communication Ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2021
P. B. Sujit, J. G. Manathara, Debasish Ghose, and
J. B. de Sousa
84 Coordinated Convoy Protection Among Teams
of Unmanned Aerial Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2049
Magnus Egerstedt, Amir Rahmani, and
Shin-Yih (Ryan) Young
85 UAV Routing and Coordination in Stochastic, Dynamic
Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2079
John J. Enright, Emilio Frazzoli, Marco Pavone, and
Ketan Savla
Section XVI UAV Integration into the National Airspace . . . . . . . . . . . . . . . . 2111
Konstantinos Dalamagkidis and Richard S. Stansbury
86 UAV Integration into the National Airspace: Introduction .. . . . . . . . . . 2113
Kimon P. Valavanis and George J. Vachtsevanos
87 Aviation Regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2117
Konstantinos Dalamagkidis
88 Human Factors of Unmanned Aircraft System
Integration in the National Airspace System. . . . . . . . . . . . . . . . . . . . . . . . . . . 2135
Bill Kaliardos and Beth Lyall
Contents lxiii
89 Methodologies for Regulatory Compliance and Harmonization.. . . . 2159
Douglas Marshall
90 Certification Strategy for Small Unmanned Aircraft
Performing Nomadic Missions in the U.S. National
Airspace System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2177
Maciej Stachura, Jack Elston, Brian Argrow, Eric Frew, and
Cory Dixon
91 Hazard and Safety Risk Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2199
Konstantinos Dalamagkidis
92 Safety Risk Management of Unmanned Aircraft Systems. . . . . . . . . . . . 2229
Reece A. Clothier and Rodney A. Walker
93 Certification of Small UAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2277
Ron van de Leijgraaf
94 Technology Surveys and Regulatory Gap Analyses of
UAS Subsystems Toward Access to the NAS . . . . . . . . . . . . . . . . . . . . . . . . . . . 2293
Richard S. Stansbury and Timothy A. Wilson
95 Concept of Operations of Small Unmanned Aerial
Systems: Basis for Airworthiness Towards Personal
Remote Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2339
Brandon Stark, Calvin Coopmans, and YangQuan Chen
96 Standards and Certification of a UAS Sense and Avoid
Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2361
Andrew D. Zeitlin
Section XVII UAV - Human Interfaces and Decision Support
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2383
Paul Oh andMichael Goodrich
97 UAV - Human Interfaces and Decision Support Systems:
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2385
Kimon P. Valavanis and George J. Vachtsevanos
98 Human Interfaces in Micro and Small Unmanned Aerial
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2389
Joshua M. Peschel and Robin R. Murphy
99 Human Factors Perspective on Next Generation
Unmanned Aerial Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2405
M. A. Goodrich and M. L. Cummings
100 Cognitive Task Analysis for Unmanned Aerial System Design . . . . . . 2425
Julie A. Adams
lxiv Contents
101 Display and Control Concepts for Multi-UAV Applications. . . . . . . . . . 2443
Gloria L. Calhoun and Mark H. Draper
102 UAV OperatorsWorkload Assessment by Optical Brain
Imaging Technology (fNIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2475
Kurtulus Izzetoglu, Hasan Ayaz, James T. Hing,
Patricia A. Shewokis, Scott C. Bunce, Paul Oh, and
Banu Onaral
Volume 5
Section XVIII Human Factors and Training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2501
FulviaQuagliotti
103 Human Factors and Training: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 2503
Kimon P. Valavanis and George J. Vachtsevanos
104 Using Best Practices as a Way Forward for Remotely
Piloted Aircraft Operators: Integrated Combat
Operations Training-Research Testbed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2505
Leah J. Rowe, Sharon L. Conwell, Sean A. Morris,
and Noah P. Schill
105 From Research to Operations: The PITVANT UAS
Training Experience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2525
Maria da Luz Madruga Matos, Jo˜ao Vieira Caetano,
A. P. Morgado, and J. B. de Sousa
Section XIX UAV Logistics Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2561
FulviaQuagliotti and Nafiz Alemdaroglu
106 UAV Logistics Support: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2563
Kimon P. Valavanis and George J. Vachtsevanos
107 UAV Logistic Support Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2565
Sergio Chiesa and Marco Fioriti
108 UAV Logistics for Life-Cycle Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2601
Cengiz Karaa˘gac¸, Ahmet G. Pakfiliz, Fulvia Quagliotti,
and Nafiz Alemdaroglu
Section XX UAV Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2637
An´ıbal Ollero
109 UAV Applications: Introduction .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2639
Kimon P. Valavanis and George J. Vachtsevanos
Contents lxv
110 Survey of Unmanned Aerial Vehicles (UAVs)
for Traffic Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2643
Konstantinos Kanistras, Goncalo Martins,
Matthew J. Rutherford, and Kimon P. Valavanis
111 Measurement and Exploration in Volcanic Environments . . . . . . . . . . . 2667
Carmelo Donato Melita, Domenico Longo,
Giovanni Muscato, and Gaetano Giudice
112 Cooperative Unmanned Aerial Systems for Fire
Detection, Monitoring, and Extinguishing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2693
Luis Merino, Jos´e Ramiro Mart´ınez-de Dios, and
An´ıbal Ollero
113 Selection of Appropriate Class UAS/Sensors to Support
Fire Monitoring: Experiences in the United States . . . . . . . . . . . . . . . . . . . . 2723
Vincent G. Ambrosia and Thomas Zajkowski
114 Unmanned Aerial Systems Physically Interacting with
the Environment: Load Transportation, Deployment,
and Aerial Manipulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2755
Konstantin Kondak, An´ıbal Ollero, Ivan Maza, Kai Krieger,
Alin Albu-Schaeffer, Marc Schwarzbach, and
Maximilian Laiacker
115 Unmanned Aircraft Systems for Maritime Operations .. . . . . . . . . . . . . . 2787
J. B. de Sousa, Philip McGuillivary, Jo˜ao Vicente,
Maria Nunes Bento, Jos´e A. P. Morgado,
Maria Madruga Matos, Ricardo Ayres Gomes Bencatel, and
Paulo M´onica de Oliveira
116 Autonomous Remote Sensing of Invasive Species from
Robotic Aircraft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2813
Ali Haydar G¨oktoˇgan and Salah Sukkarieh
117 Cyber-Physical Systems Enabled by Small Unmanned
Aerial Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2835
Calvin Coopmans, Brandon Stark, Austin Jensen,
YangQuan Chen, and Mac McKee
Section XXI Social and Ethical Implications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2861
George R. Lucas Jr.
118 Social and Ethical Implications: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 2863
Kimon P. Valavanis and George J. Vachtsevanos
119 Ethics and UAVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2865
George R. Lucas Jr.
lxvi Contents
120 International Governance of Autonomous Military Robots .. . . . . . . . . 2879
Gary E. Marchant, Braden Allenby, Ronald Arkin,
Jason Borenstein, Lyn M. Gaudet, Orde Kittrie, Patrick Lin,
George R. Lucas Jr., Richard O’Meara, and Jared Silberman
121 The Moral Case Against Autonomous and
SemiAutonomous UAVs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2919
Noel Sharkey
122 The Moral Case for Autonomy in Unmanned Systems . . . . . . . . . . . . . . . 2933
Ronald C. Arkin
123 Moral Predators: The Duty to Employ Uninhabited
Aerial Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2943
Bradley Jay Strawser
124 Killer Robots: Ethical Issues in the Design of Unmanned
Systems for Military Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2965
Robert Sparrow
125 Ethical Issues of UAVs for National Academy of Sciences . . . . . . . . . . . . 2985
George R. Lucas Jr.
Section XXII Epilogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2991
George J. Vachtsevanos and Kimon P. Valavanis
126 Future of Unmanned Aviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2993
Kimon P. Valavanis and George J. Vachtsevanos
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3011
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