{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T20:29:15Z","timestamp":1776976155846,"version":"3.51.4"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2017,11,15]],"date-time":"2017-11-15T00:00:00Z","timestamp":1510704000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2018,9]]},"DOI":"10.1007\/s10846-017-0661-z","type":"journal-article","created":{"date-parts":[[2017,11,15]],"date-time":"2017-11-15T05:25:09Z","timestamp":1510723509000},"page":"735-754","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":26,"title":["A Unified Analytical Framework for Aircraft Separation Assurance and UAS Sense-and-Avoid"],"prefix":"10.1007","volume":"91","author":[{"given":"Subramanian","family":"Ramasamy","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roberto","family":"Sabatini","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alessandro","family":"Gardi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,11,15]]},"reference":[{"key":"661_CR1","doi-asserted-by":"publisher","DOI":"10.1002\/9780470686652.eae1064","volume-title":"Modern Avionics and ATM Systems for Green Operations, Encyclopedia of Aerospace Engineering","author":"R Sabatini","year":"2015","unstructured":"Sabatini, R., Gardi, A., Ramasamy, S., Kistan, T., Marino, M., Blockley, R., Shyy, W.: Modern Avionics and ATM Systems for Green Operations, Encyclopedia of Aerospace Engineering. Wiley, Chichester (2015). https:\/\/doi.org\/10.1002\/9780470686652.eae1064"},{"key":"661_CR2","unstructured":"Kopardekar, P.H.: Unmanned aerial system (UAS) traffic management (UTM): enabling low-altitude airspace and UAS operations, NASA Technical Report (2014)"},{"key":"661_CR3","doi-asserted-by":"publisher","unstructured":"Cook, S.P., Lacher, A.R., Maroney, D.R., Zeitlin, A.D.: UAS sense and avoid development - the challenges of technology, standards, and certification. In: 50th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition, Nashville, TN, USA (2012). https:\/\/doi.org\/abs\/10.2514\/6.2012-959","DOI":"10.2514\/6.2012-959"},{"issue":"7","key":"661_CR4","doi-asserted-by":"publisher","first-page":"503","DOI":"10.1016\/j.paerosci.2008.08.001","volume":"44","author":"K Dalamagkidis","year":"2008","unstructured":"Dalamagkidis, K., Valavanis, K.P., Piegl, L.A.: On unmanned aircraft systems issues, challenges and operational restrictions preventing integration into the national airspace system. Prog. Aerosp. Sci. 44(7), 503\u2013519 (2008). https:\/\/doi.org\/10.1016\/j.paerosci.2008.08.001","journal-title":"Prog. Aerosp. Sci."},{"key":"661_CR5","volume-title":"Working Document for the Aviation System Block Upgrades - The Framework for Global Harmonization","author":"The International Civil Aviation Organization (ICAO)","year":"2013","unstructured":"The International Civil Aviation Organization (ICAO): Working Document for the Aviation System Block Upgrades - The Framework for Global Harmonization. Montreal, Canada (2013)"},{"key":"661_CR6","unstructured":"Amato, G.: EUROCAE WG-73 on Unmanned Aircraft Systems, ed: EUROCAE"},{"key":"661_CR7","unstructured":"JAA: UAV TASK-FORCE, Final Report - A Concept for European Regulations for Civil Unmanned Aerial Vehicles (UAVs) (2004)"},{"key":"661_CR8","doi-asserted-by":"crossref","first-page":"1817","DOI":"10.1007\/978-90-481-9707-1_66","volume-title":"Development of a Regulatory Safety Baseline for UAS Sense and Avoid, Handbook of Unmanned Aerial Vehicles","author":"A Oztekinmet","year":"2015","unstructured":"Oztekinmet, A., Wever, R.: Development of a Regulatory Safety Baseline for UAS Sense and Avoid, Handbook of Unmanned Aerial Vehicles, pp. 1817\u20131839. Springer Verilag, Netherlands (2015)"},{"key":"661_CR9","doi-asserted-by":"crossref","first-page":"152","DOI":"10.1016\/j.paerosci.2015.01.001","volume":"74","author":"X Yu","year":"2015","unstructured":"Yu, X., Zhang, Y.: Sense and avoid technologies with applications to unmanned aircraft systems: review and prospects. Prog. Aerosp. Sci. 74, 152\u2013166 (2015)","journal-title":"Prog. Aerosp. Sci."},{"key":"661_CR10","unstructured":"Pellebergs, J., Aeronautics, SAAB: The MIDCAS Project, SAAB Aeronautics (2012)"},{"key":"661_CR11","first-page":"1813","volume-title":"UAV Sense, Detect and Avoid: Introduction, Handbook of Unmanned Aerial Vehicles","author":"KP Valavanis","year":"2014","unstructured":"Valavanis, K.P., George, J.V.: UAV Sense, Detect and Avoid: Introduction, Handbook of Unmanned Aerial Vehicles, pp. 1813\u20131816. Springer, Netherlands (2014)"},{"key":"661_CR12","unstructured":"Federal Aviation Administration: Pilot\u2019s Role in Collision Avoidance, AC90-48C, Washington DC, USA (1983)"},{"key":"661_CR13","unstructured":"DOT\/FAA\/CT-96-1: Human Factors Design Guide for Acquisition of Commercial-Off-the-Shelf subsystems, Non-Developmental Items, and Developmental Systems-Final Report and Guide (1996)"},{"key":"661_CR14","volume-title":"Integration of Civil Unmanned Aircraft Systems (UAS) in the National Airspace System (NAS) Roadmap, US Depatment of Transportation","author":"FAA","year":"2013","unstructured":"FAA: Integration of Civil Unmanned Aircraft Systems (UAS) in the National Airspace System (NAS) Roadmap, US Depatment of Transportation. Federal Aviation Administration, Washingston (2013)"},{"issue":"5","key":"661_CR15","doi-asserted-by":"publisher","first-page":"111","DOI":"10.1109\/MCOM.2014.6815901","volume":"52","author":"M Strohmeier","year":"2014","unstructured":"Strohmeier, M., Sch\u00e4fer, M., Lenders, V., Martinovic, I.: Realities and challenges of NextGen air traffic management: the case of ADS-B. IEEE Commun. Mag. 52(5), 111\u2013118 (2014). https:\/\/doi.org\/10.1109\/MCOM.2014.6815901","journal-title":"IEEE Commun. Mag."},{"issue":"10","key":"661_CR16","doi-asserted-by":"crossref","first-page":"1894","DOI":"10.1111\/risa.12200","volume":"34","author":"R Melnyk","year":"2014","unstructured":"Melnyk, R., et al.: Sense and avoid requirements for unmanned aircraft systems using a target level of safety approach. Risk Anal. 34(10), 1894\u20131906 (2014)","journal-title":"Risk Anal."},{"key":"661_CR17","doi-asserted-by":"crossref","unstructured":"Mejias, L., Lai, J., Bruggemann, T.: Sensors for Missions. Handbook of Unmanned Aerial Vehicles (2015)","DOI":"10.1007\/978-90-481-9707-1_6"},{"key":"661_CR18","first-page":"1895","volume-title":"Scalable RADAR-Based Sense-and-Avoid System for Unmanned Aircraft, Handbook of Unmanned Aerial Vehicles","author":"A Moses","year":"2014","unstructured":"Moses, A., Rutherford, M.J., Valavanis, K.P.: Scalable RADAR-Based Sense-and-Avoid System for Unmanned Aircraft, Handbook of Unmanned Aerial Vehicles, pp. 1895\u20131953. Springer, Berlin (2014)"},{"key":"661_CR19","doi-asserted-by":"crossref","unstructured":"Finn, A., Franklin, S.: Acoustic sense & avoid for UAV\u2019s. In: IEEE Seventh International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP) (2011)","DOI":"10.1109\/ISSNIP.2011.6146555"},{"key":"661_CR20","unstructured":"Wood, D.: Collision Avoidance System and Method Utilizing Variable Surveillance Envelope, U.S. Patent 6,804, 607 (2004)"},{"key":"661_CR21","doi-asserted-by":"crossref","unstructured":"Smith, A., Coulter, D.M., Jones, C.S.: UAS collision encounter modeling and avoidance algorithm development for simulating collision avoidance. In: AIAA Modeling and Simulation Technologies Conference (2008)","DOI":"10.2514\/6.2008-7043"},{"key":"661_CR22","doi-asserted-by":"crossref","unstructured":"Mullins, M., Holman, M., Foerster, K., Kaabouch, N., Semke, W.: Dynamic separation thresholds for a small airborne sense and avoid system. In: AIAA Infotech@ Aerospace Conference, Boston, MA, USA, pp. 19\u201322 (2013)","DOI":"10.2514\/6.2013-5148"},{"key":"661_CR23","doi-asserted-by":"crossref","unstructured":"Smith, A.L., Harmon, F.G.: UAS Collision Avoidance Algorithm Minimizing Impact on Route Surveillance, AIAA Guidance Navigation, and Control Conferenc (2009)","DOI":"10.2514\/6.2009-6179"},{"key":"661_CR24","doi-asserted-by":"crossref","unstructured":"Euteneuer, E.A., Papageorgiou, G.: UAS insertion into commercial airspace: Europe and US standards perspective. In: 30th AIAA\/IEEE Digital Avionics Systems Conference (DASC), pp. 5C5-1 (2011)","DOI":"10.1109\/DASC.2011.6096084"},{"key":"661_CR25","doi-asserted-by":"crossref","unstructured":"De Crescenzio, F., Miranda, G., Persiani, F., Bombardi, T.: 3D obstacle avoidance strategies for UAS (Uninhabited Aerial System) mission planning and replanning. In: Proceedings of the 26th Congress of the International Council of the Aeronautical Sciences (2008)","DOI":"10.2514\/6.2008-8962"},{"key":"661_CR26","first-page":"435","volume":"3","author":"R Marsh","year":"2011","unstructured":"Marsh, R., Ogaard, K., Kary, M., Nordlie, J., Theisen, C.: Development of a mobile information display system for UAS operations in North Dakota. Int. J. Comput. Inf. Syst. Ind. Manag. Appl. 3, 435\u2013443 (2011)","journal-title":"Int. J. Comput. Inf. Syst. Ind. Manag. Appl."},{"key":"661_CR27","doi-asserted-by":"crossref","unstructured":"Hanlon, N., Cohen, K., Kivelevitch, E.: Sensor resource management to support UAS integration into the national airspace system. In: AIAA SciTech 2015 Conference (2015)","DOI":"10.2514\/6.2015-0360"},{"key":"661_CR28","unstructured":"Capit\u00e1n, J., Merino, L., Ollero, A.: Coordination of multiple UAS for tracking under uncertainty. In: Proceedings of the 1st Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS (2011)"},{"key":"661_CR29","doi-asserted-by":"crossref","unstructured":"Tadema, J., Theunissen, E., Kirk, K.M: Self separation support for UAS. In: American Institute of Aeronautics and Astronautics (AIAA) (2010)","DOI":"10.2514\/6.2010-3460"},{"key":"661_CR30","unstructured":"Upchurch, J., Munoz, C., Narkawicz, A., Chamberlain, J.: Chamberlain, Analysis of Well-Clear Boundary Models for the Integration of UAS in the NAS, Langley Research Center, Hampton, Virginia, TM\u20132014\u2013218280, NASA (2014)"},{"key":"661_CR31","volume-title":"CASR Part 101 - Unmanned, aircraft and rockets, CASA Regulations","author":"CASA","year":"2016","unstructured":"CASA: CASR Part 101 - Unmanned, aircraft and rockets, CASA Regulations. Civil Aviation Safety Authority, Canberra (2016)"},{"key":"661_CR32","doi-asserted-by":"publisher","first-page":"529","DOI":"10.1016\/j.ast.2016.09.002","volume":"58","author":"F Cappello","year":"2016","unstructured":"Cappello, F., Ramasamy, S., Sabatini, R.: A low-cost and high performance navigation system for small rpas applications. Aerosp. Sci. Technol. 58, 529\u2013545 (2016). https:\/\/doi.org\/10.1016\/j.ast.2016.09.002","journal-title":"Aerosp. Sci. Technol."},{"key":"661_CR33","unstructured":"Rodriguez, L., Sabatini, R., Ramasamy, S., Gardi, A.: A novel system for non-cooperative UAV sense-and-avoid. In: European Navigation Conference (ENC 2013), Vienna, Austria (2013)"},{"key":"661_CR34","doi-asserted-by":"crossref","first-page":"193","DOI":"10.2514\/2.4231","volume":"21","author":"JT Betts","year":"1998","unstructured":"Betts, J. T.: Survey of numerical methods for trajectory optimization. J. Guid. Control. Dyn. 21, 193\u2013207 (1998)","journal-title":"J. Guid. Control. Dyn."},{"key":"661_CR35","doi-asserted-by":"publisher","unstructured":"Lai, C.K., Lone, M., Thomas, P., Whidborne, J., Cooke, A.: On-board trajectory generation for collision avoidance in unmanned aerial vehicles. In: Proceedings of the IEEE Aerospace Conference, pp. 1\u201314 (2011). https:\/\/doi.org\/10.1109\/AERO.2011.5747526","DOI":"10.1109\/AERO.2011.5747526"},{"issue":"4","key":"661_CR36","doi-asserted-by":"crossref","first-page":"329","DOI":"10.3390\/app7040329","volume":"7","author":"T Yu","year":"2017","unstructured":"Yu, T., Tang, J., Bai, L., Lao, S.: Collision avoidance for cooperative UAVs with rolling optimization algorithm based on predictive state space. Appl. Sci. 7(4), 329 (2017)","journal-title":"Appl. Sci."},{"key":"661_CR37","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.paerosci.2015.11.006","volume":"83","author":"A Gardi","year":"2016","unstructured":"Gardi, A., Sabatini, R., Ramasamy, S.: Multi-objective optimisation of aircraft flight trajectories in the ATM and avionics context. Prog. Aerosp. Sci. 83, 1\u201336 (2016). https:\/\/doi.org\/10.1016\/j.paerosci.2015.11.006","journal-title":"Prog. Aerosp. Sci."},{"key":"661_CR38","unstructured":"Lai, C.K.: A Novel Collision Avoidance Logic for Unmanned Aerial Vehicles using Real-Time Trajectory Planning. PhD Thesis, Cranfield Univeristy, UK (2014)"},{"key":"661_CR39","doi-asserted-by":"publisher","first-page":"344","DOI":"10.1016\/j.ast.2016.05.020","volume":"55","author":"S Ramasamy","year":"2016","unstructured":"Ramasamy, S., Sabatini, R., Gardi, A.: LIDAR obstacle warning and avoidance system for unmanned aerial vehicle sense-and-avoid. Aerosp. Sci. Technol. 55, 344\u2013358 (2016). https:\/\/doi.org\/10.1016\/j.ast.2016.05.020","journal-title":"Aerosp. Sci. Technol."},{"key":"661_CR40","unstructured":"Sabatini, R., Moore, T., Hill, C.: Avionics based GNSS integrity augmentation for mission- and safety-critical applications. In: Paper presented at 25th International Technical Meeting of the Satellite Division of the Institute of Navigation: ION GNSS-2012, Nashville (Tennessee) (2012)"},{"key":"661_CR41","doi-asserted-by":"publisher","DOI":"10.1002\/9780470686652.eae1141","volume-title":"Terminal Area Operations: Challenges and Opportunities, Encyclopedia of Aerospace - UAS","author":"A Gardi","year":"2016","unstructured":"Gardi, A., Ramasamy, S., Sabatini, R., Kistan, T., Blockley, R., Shyy, W.: Terminal Area Operations: Challenges and Opportunities, Encyclopedia of Aerospace - UAS. Wiley, Chichester (2016). https:\/\/doi.org\/10.1002\/9780470686652.eae1141"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0661-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0661-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0661-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,10,6]],"date-time":"2019-10-06T01:09:21Z","timestamp":1570324161000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0661-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,11,15]]},"references-count":41,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2018,9]]}},"alternative-id":["661"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0661-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,11,15]]}}}