The Handbook of Unmanned Aerial Vehicles is a reference text for the academic and research communities, industry, manufacturers, users, practitioners, Federal Government, Federal and State Agencies, the private sector, as well as all organizations that are and will be using unmanned aircraft in a wide spectrum of applications.

Table of Contents

• 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 Flight - 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 - George J. 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
• 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 - Chowdhary Vinayak Girish, Frazzoli Emilio, How P. Jonathan and Liu Hugh
• 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 - Wietfeld Christian and Daniel Kai
• 34 Layered Approach to Networked Command and Control of Complex UAS - Jack Elston, Maciej Stachura, C. Dixon, B. 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 - George J. Vachtsevanos and Kimon P. Valavanis
• 36 UAV Architectures: Introduction - Kimon P. Valavanis and George J. Vachtsevanos
• 37 HDRC3: A Distributed HybridDeliberative/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, Aníbal 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 M. Zhang
• 46 Fault Detection and Diagnosis for NASA GTMUAV 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
• 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 - Jayant Ratti and George J. Vachtsevanos
• 58 Issues Surrounding Communications with Micro Air Vehicles - Christian Michelson
• Section XII UAVMission 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 Gokhan Inalhan
• 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 Léchevin, Camille Alain Rabbath and Patrick Maupin
• Section XIII UAV Autonomy - Christos Cassandras, David Castañón 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
• 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 Göttken, Christoph Vernaleken and Simon Schärer
• 78 Test Flights to Demonstrate Effectiveness of a Ground-Based Detect and Avoid Integration Concept - Andreas Udovic, Hans de Jong and Jürgen 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 - Joram Verstraeten, 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 A Certification Strategy for Small Unmanned Aircraft Performing Nomadic Missions in the U.S. National Airspace System - Maciej Stachura, Jack Elston, Brian Argrow, Eric W. 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
• 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, João Vieira Caetano, José 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 Karaagaç, Ahmet G. Pakfiliz, Fulvia Quagliotti and Nafiz Alemdaroglu
• Section XX UAV Applications - AnÍbal 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, José Ramiro Martínez-de Dios and Aníbal 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, Aníbal 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, João Vicente, Maria Nunes Bento, José A. P. Morgado, Maria Madruga Matos, Ricardo Ayres Gomes Bencatel and Paulo Mónica de Oliveira
• 116 Autonomous Remote Sensing of Invasive Species from Robotic Aircraft - Ali Haydar Göktogan and Salah Sukkarieh
• 117 Cyber-Physical Systems Enabled by Small Unmanned Aerial Vehicles - Calvin Coopmans, Brandon Stark, Austin Jensen, Yang Quan 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 C. 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 - George J. Vachtsevanos and Kimon P. Valavanis
• 126 Future of Unmanned Aviation - Kimon P. Valavanis and George J. Vachtsevanos