Volume 1

Section I Introduction...............................
Konstantinos Dalamagkidis, George J. Vachtsevanos and Kimon P. Valavanis

1 Introduction...................................
Kimon P. Valavanis and George J. Vachtsevanos
2 Introduction to the Handbook on UAVs...........
Kimon P. Valavanis and George J. Vachtsevanos
3 Definitions and Terminology....................
Konstantinos Dalamagkidis
4 Aviation History and Unmanned P light .........
Konstantinos Dalamagkidis
5 Classification of UAVs.........................
Konstantinos Dalamagkidis
6 Military and Civilian Unmanned Aircraft .......
George J. Vachtsevanos and Kimon P. Valavanis

Section II UAV Design Principles ..................
Daniel J. Pack and Graham Drozeski

7 UAV Design Principles: Introduction..........
Kimon P Valavanis and George J. Vachtsevanos
8 Computational and Experimental Design
of a Fixed-Wing UAV..........................
Helen Ryaciotaki-Boussalis and Darrell Guillaume
9 UAV Handbook: Payload Design of Small UAVs..........
Scott Gruber, Hyukseong Kwon, Chad Hager,
Rajnikant Sharma. Josiah Yoder, and Daniel Pack
10 Small UAV Design Development and Sizing.............
Steven A. Brandt
11 Systematic Design Methodology and Construction
of Micro Aerial Quadrotor Vehicles.................
Swee King Phang, Kun Li. Ben M. Chen, and Tong H. Lee
12 Dexterous UAVs for Precision Low-Altitude Flight ...
Guangying Jiang and Richard M. Voyles

Section III UAV Fundamentals.............................
Isaac I. Kaminer

13 UAV Fundamentals: Introduction......................
Kimon P. Valavanis and George J. Vachtsevanos
14 Kinematics and Dynamics of Fixed-Wing UAVs..........
Vladimir Dobrokhodov
15 Dynamic Model for a Miniature Aerobatic Helicopter
Vladislav Gavrilets
16 Quadrotor Kinematics and Dynamics...................
Caitlin Powers. Daniel Mellinger, and Vijay Kumar
17 Dynamics and Control of Flapping Wing MAVs .........
David B. Doman, Michael W. Oppenheimer, and David O. Sigthorsson
18 Principles of Guidance, Navigation, and Control of UAVs
Gabriel Hugh Elkaim. Fidelis Adhika Pradipta Lie, and Demoz Gebre-Egziabher

Section IV Sensors and Sensing Strategies................
Ben Upcroft and Salah Sukkarieh

19 Sensors and Sensing Strategies: Introduction........
Kimon P Valavanis and George J. Vachtsevanos
20 Sensors for Missions................................
Luis Mejias, John Lai, and Troy Bruggemann
21 Inertial Sensor-Based Simultaneous Localization and Mapping for UAVs...............................
Mitch Bryson and Salah Sukkarieh
22 UAV Localization Using Inertial Sensors and Satellite Positioning Systems................................
Mitch Bryson and Salah Sukkarieh
23 Data Fusion and Tracking with Multiple UAVs.........
Matthew F. Ridley, Ben Upcroft, and Salah Sukkarieh
Section V UAV Propulsion.................................
GeorgeJ. Vachtsevanos and Kimon P. Valavanis
24 UAV Propulsion: Introduction........................
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...........................................
Bohwa Lee. Poomin Park, and Chuntaek Kim

Volume 2

Section VI UAV Control............................................
Jonathan P. How

26 UAV Control: Introduction....................................
Kimon P. Valavanis and George J. Vachtsevanos
27 Linear Flight Control Techniques for Unmanned Aerial Vehicles...
Jonathan P. How, Emilio Frazzoli. and Girish Vinayak Chowdhary
28 Nonlinear Flight Control Techniques for Unmanned Aerial Vehicles.............................................
Girish Vinayak Chowdhary, Emilio Frazzoli, Jonathan P. How, and Hugh Liu
29 Adaptive Control of Unmanned Aerial Vehicles: Theory and Flight Tests............................................
Suresh K. Kannan. Girish Vinayak Chowdhary, and Eric N. Johnson
30 Robust and Adaptive Control Methods for Aerial Vehicles......
Eugene Lavretsky

Section VII UAV Communication Issues..............................
Eric W. Frew

31 UAV Communication Issues: Introduction.......................
Kimon P Valavanis and George J. Vachtsevanos
32 Problem of UAV Communications................................
Stephen B. Heppe
33 Cognitive Networking for UAV Swarms .........................
Christian Wietfeld and Kai Daniel
34 Layered Approach to Networked Command and Control of Complex UAS .............................................
Jack Elston, Maciej Stachura, Cory Dixon, Brian Argrow, and Eric W. Frew
35 Cognitive Radio Architectures for Unmanned Aircraft Systems ..
Timothy X. Brown. Mark McHenry, and Suppapol Jaroonvanichkul

Section VIII UAV Architectures....................................
GeorgeJ. Vachtsevanos and Kimon P. Valavanis

36 UAV Architectures: Introduction .............................
Kimon P. Valavanis and George J. Vachtsevanos
37 HDRC3: A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems..................
Patrick Doherty. Jonas Kvarnstrom, Mariusz Wzorek, Piotr Rudol. Fredrik Heintz, and Gianpaolo Conte
38 Classification of Multi-UAV Architectures....................
Ivan Maza, Anibal Ollero, Enrique Casado, and David Scarlatti
39 Operator Interaction with Centralized Versus Decentralized UAV Architectures.............................
M. L. Cummings

Section IX UAV Health Management Issues...........................
Kai Goebel and Michael J. Roemer

40 UAV Health Management Issues: Introduction...................
Kimon P. Valavanis and George J. Vachtsevanos
41 Integrated Vehicle Health and Fault Contingency Management for UAVs.........................................
Michael J. Roemer and Liang Tang
42 Automated Failure Effect Analysis for PHM of UAV
Neal A. Snooke
43 Prognostics Applied to Electric Propulsion UAV.....
Kai Goebel and Bhaskar Saha
44 Actuator Fault Detection in UAVs...................
Guillaume Ducard
45 Experimental Validation of Fault Detection and Diagnosis for Unmanned Aerial Vehicles........
Abbas Chamseddine, Mohammad Hadi Amoozgar, and Youmin Zhang
46 Fault Detection and Diagnosis for NASA GTM UAV with Dual Unscented Kalman Filter.................
Youmin M. Zhang
47 Fault Diagnosis of Skew-Configured Inertial Sensor System for Unmanned Aerial Vehicles...............
Seungho Yoon, Seungkeun Kim, Jonghee Bae. Youdan Kim, and Eung Tai Kim

Volume 3

Section X UAV Modeling, Simulation, Estimation and Identification......................................
Lora Weiss

48 UAV Modeling, Simulation, Estimation and Identification: Introduction..........................
Kimon P. Valavanis and George J. Vachtsevanos
49 Flight Dynamics Modeling of Coaxial Rotorcraft UAVs........
Fei Wang. Jinqiang Cui, Ben M. Chen, and Tong H. Lee
50 Modeling of a Micro UAV with Slung Payload.................
Ying Feng, Camille Alain Rabbath, and Chun-Yi Su
51 Command and Control of Autonomous Unmanned Vehicles ...
David H. Scheidt

Section XI MAVs and Bio-inspired UAVs...........................
Robert C. Michelson

52 MAVs and Bio-inspired UAVs: Introduction...................
Kimon P. Valavanis and George J. Vachtsevanos
53 Micro Air Vehicles.........................................
Robert C. Michelson
54 Survey of the Human-Centered Approach to Micro Air Vehicles .
Stuart Michelson
55 Development of Insect-Sized MAVs............................
Shigeru Sunada, Hao Liu, Hiroshi Tokutake, and Daisuke Kubo
56 Flapping-Wing Propelled Micro Air Vehicles..................
Kevin D. Jones and Max F. Platzer
57 Inventing a Biologically Inspired. Energy-Efficient Micro Aerial Vehicle.............................................
Jay ant Ratti and George Vachtsevanos
58 Issues Surrounding Communications with Micro Air Vehicles
Christian Michelson

Section XII UAV Mission and Path Planning........................
Camille Alain Rabbath and David Hyunchul Shim

59 UAV Mission and Path Planning: Introduction.................
Kimon P. Valavanis and George J. Vachtsevanos
60 Cooperative Mission Planning for Multi-UAV Teams............
Sameera S. Ponda, Luke B. Johnson, Alborz Geramifard, and Jonathan P. How-
61 Multi-team Consensus Bundle Algorithm.......................
Matthew E. Argyle. Randal W. Beard, and David W. Casbeer
62 Cooperative Mission and Path Planning for a Team of UAVs....
Hyondong Oh, Hyo-Sang Shin, Seungkeun Kim, Antonios Tsourdos, and Brian A. White
63 Cooperative Task Assignment and Path Planning for Multiple UAVs..........................................
Sangwoo Moon, David Hyunchul Shim, and Eunmi Oh
64 On the Decentralized Cooperative Control of Multiple Autonomous Vehicles........................................
Michael J. Hirsch and Daniel Schroeder
65 Innovative Collaborative Task Allocation for UAVs...........
Sertac Karaman, Emre Koyuncu, and Gokhan Inalhan
66 Control of Communication Networks for Teams of UAVs.........
Andrew Kopeikin, Sameera S. Ponda, and Jonathan P. How
67 Information-Theoretic Exploration of Unmanned Aerial Vehicle in Unknown Cluttered Environment...................
Kwangjin Yang, Seng Keat Gan, and Salah Sukkarieh
68 Implementing Dubins Airplane Paths on Fixed-Wing UAVs
Mark Owen, Randal W. Beard, and Timothy W. McLain
69 Health Monitoring of a Drone Formation Affected by a Corrupted Control System.......................
Nicolas L£chevin, Camille Alain Rabbath. and Patrick Maupin

Section XIII UAV Autonomy................................
Christos Cassondras, David Castahon and Lora Weiss

70 UAV Autonomy: Introduction ..........................
Kimon P. Valavanis and George J. Vachtsevanos
71 Integrated Hardware/Software Architectures to Enable UAVs for Autonomous Flight..........................
Charles Pippin
72 Distributed Optimization of Autonomous UAVs with Event-Driven Communication..........................
Minyi Zhong and Christos G. Cassandras
73 UAV Guidance Algorithms via Partially Observable Markov Decision Processes...........................
Shankarachary Ragi and Edwin K. P. Chong

Volume 4

Section XIV UAV Sense, Detect and Avoid Systems........
Lennaert Speijker

74 UAV Sense, Detect and Avoid: Introduction..........
Kimon P. Valavanis and George J. Vachtsevanos
75 Development of a Regulatory Safety Baseline for UAS Sense and Avoid ..................................
Ahmet Oztekin and Rombout Wever
76 Achieving Sense and Avoid for Unmanned Aircraft Systems: Assessing the Gaps for Science and Research..
K. Douglas Davis and Stephen P. Cook
77 Automatic Traffic Alert and Collision Avoidance System (TCAS) Onboard UAS................................
Jörg Meyer, Matthias Gdttken, Christoph Vernaleken, and Simon Schilrer
78 Test Flights to Demonstrate Effectiveness of a Ground-Based Detect and Avoid Integration Concept....
Andreas Udovic, Hans de Jong, and JUrgen Vielhauer
79 Scalable RADAR-Based Sense-and-Avoid System for Unmanned Aircraft................................
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..
JoramVerstraeten, Martijn Stuip, and Tom van Birgelen

Section XV Networked UAVs and UAV Swarms..................
Randal Beard and Camille Alain Rabbath

81 Networked UAVs and UAV Swarms: Introduction..........
Kimon P. Valavanis and George J. Vachtsevanos
82 UAV Swarms: Models and Effective Interfaces..........
Airlie Chapman and Mehran Mesbahi
83 Decentralized Multi-UAV Coalition Formation with Limited Communication Ranges.........................
P. B. Sujit, J. G. Manathara, Debasish Ghose, and J. B. de Sousa
84 Coordinated Convoy Protection Among Teams of Unmanned Aerial Vehicles..........................
Magnus Egerstedt. Amir Rahmani, and Shin-Yih (Ryan) Young
85 UAV Routing and Coordination in Stochastic, Dynamic Environments.........................................
John J. Enright, Emilio Frazzoli, Marco Pavone, and Ketan Savla

Section XVI UAV Integration into the National Airspace....
Konstantinos Dalamagkidis and Richard S. Stansbury

86 UAV Integration into the National Airspace: Introduction
Kimon P. Valavanis and George J. Vachtsevanos
87 Aviation Regulation..................................
Konstantinos Dalamagkidis
88 Human Factors of Unmanned Aircraft System Integration in the National Airspace System..........
Bill Kaliardos and Beth Lyall
89 Methodologies for Regulatory Compliance and Harmonization...
Douglas Marshall
90 Certification Strategy for Small Unmanned Aircraft Performing Nomadic Missions in the U.S. National Airspace System..............................................
Maciej Stachura, Jack Elston, Brian Argrow, Eric Frew, and Cory Dixon
91 Hazard and Safety Risk Modeling...............................
Konstantinos Dalamagkidis
92 Safety Risk Management of Unmanned Aircraft Systems...........
Reece A. Clothier and Rodney A. Walker
93 Certification of Small UAS....................................
Ron van de Leijgraaf
94 Technology Surveys and Regulatory Gap Analyses of UAS Subsystems Toward Access to the NAS......................
Richard S. Stansbury and Timothy A. Wilson
95 Concept of Operations of Small Unmanned Aerial Systems: Basis for Airworthiness Towards Personal Remote Sensing...............................................
Brandon Stark, Calvin Coopmans, and YangQuan Chen
96 Standards and Certification of a UAS Sense and Avoid Capability...................................................
Andrew D. Zeitlin

Section XVII UAV - Human Interfaces and Decision Support Systems.............................................
Paul Oh and Michael Goodrich
97 UAV - Human Interfaces and Decision Support Systems: Introduction.................................................
Kimon P. Valavanis and George J. Vachtsevanos
98 Human Interfaces in Micro and Small Unmanned Aerial Systems......................................................
Joshua M. Peschel and Robin R. Murphy
99 Human Factors Perspective on Next Generation Unmanned Aerial Systems......................................
M. A. Goodrich and M. L. Cummings
100 Cognitive Task Analysis for Unmanned Aerial System Design
Julie A. Adams
101 Display and Control Concepts for Multi-UAV Applications
Gloria L. Calhoun and Mark H. Draper
102 UAV Operators Workload Assessment by Optical Brain Imaging Technology (fNIR)..............................
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..................
Fulvia Quagliotti

103 Human Factors and Training: Introduction............
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...............
Leah J. Rowe, Sharon L. Conwell, Sean A. Morris, and Noah P. Schill
105 From Research to Operations: The PITVANT UAS Training Experience................................
Maria da Luz Madruga Matos, Joao Vieira Caetano, A. P. Morgado. and J. B. de Sousa

Section XIX UAV Logistics Support.........................
Fulvia Quagliotti and Nafiz Alemdaroglu

106 UAV Logistics Support: Introduction.................
Kimon P. Valavanis and George J. Vachtsevanos
107 UAV Logistic Support Definition.....................
Sergio Chiesa and Marco Fioriti
108 UAV Logistics for Life-Cycle Management.............
Cengiz Karaağaç, Ahmet G. Pakfiliz, Fulvia Quagliotti, and Nafiz Alemdaroglu

Section XX UAV Applications...............................
Anibal Ollero

109 UAV Applications: Introduction......................
Kimon P. Valavanis and George J. Vachtsevanos
110 Survey of Unmanned Aerial Vehicles (UAVs) for Traffic Monitoring.................................
Konstantinos Kanistras, Goncalo Martins, Matthew J. Rutherford, and Kimon P. Valavanis
111 Measurement and Exploration in Volcanic Environments ...
Carmelo Donato Melita, Domenico Longo, Giovanni Muscato, and Gaetano Giudice
112 Cooperative Unmanned Aerial Systems for Fire Detection, Monitoring, and Extinguishing...............
Luis Merino, Jose Ramiro Martmez-de Dios, and Anfbal Ollero
113 Selection of Appropriate Class UAS/Sensors to Support Fire Monitoring: Experiences in the United States......
Vincent G. Ambrosia and Thomas Zajkowski
114 Unmanned Aerial Systems Physically Interacting with the Environment: Load Transportation. Deployment and Aerial Manipulation................................
Konstantin Kondak, Anibal Ollero, Ivan Maza, Kai Krieger, Alin Albu-Schaeffer, Marc Schwarzbach, and Maximilian Laiacker
115 Unmanned Aircraft Systems for Maritime Operations.......
J. B. de Sousa. Philip McGuillivary. JoSo Vicente, Maria Nunes Bento, Jose A. P Morgado,
Maria Madruga Matos, Ricardo Ayres Gomes Bencatel, and Paulo Mdnica de Oliveira
116 Autonomous Remote Sensing of Invasive Species from Robotic Aircraft.......................................
Ali Haydar Gdktogan and Salah Sukkarieh
117 Cyber-Physical Systems Enabled by Small Unmanned Aerial Vehicles........................................
Calvin Coopmans, Brandon Stark, Austin Jensen, YangQuan Chen, and Mac McKee

Section XXI Social and Ethical Implications...................
George R. Lucas Jr.

118 Social and Ethical Implications: Introduction...........
Kimon P. Valavanis and George J. Vachtsevanos
119 Ethics and UAVs.........................................
George R. Lucas Jr.
120 International Governance of Autonomous Military Robots... 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.....................................
Noel Sharkey
122 The Moral Case for Autonomy in Unmanned Systems.........
Ronald C. Arkin
123 Moral Predators: The Duty to Employ Uninhabited Aerial Vehicles.........................................
Bradley Jay Strawser
124 Killer Robots: Ethical Issues in the Design of Unmanned Systems for Military Applications.......................
Robert Sparrow
125 Ethical Issues of UAVs for National Academy of Sciences.
George R. Lucas Jr.

Section XXII Epilogue.........................................
George1 Vachtsevanos and Kimon P. Valavanis

126 Future of Unmanned Aviation.............................
Kimon P. Valavanis and George J. Vachtsevanos

Index...................................................