{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,7]],"date-time":"2025-05-07T05:03:19Z","timestamp":1746594199200},"reference-count":17,"publisher":"American Institute of Aeronautics and Astronautics (AIAA)","issue":"12","content-domain":{"domain":["arc.aiaa.org"],"crossmark-restriction":true},"short-container-title":["Journal of Aerospace Information Systems"],"published-print":{"date-parts":[[2022,12]]},"abstract":"<jats:p> The increasing number and type of unmanned aircraft system (UAS) operations provide a clear need for safe and efficient integration of UAS into the National Airspace System. The main obstacle in integration is the lack of certified collision avoidance solutions. Traffic Alert and Collision Avoidance System II has limitations to meet the requirements for UASs and has shown to lack the adaptability to future operational environments. The Airborne Collision Avoidance System X (ACAS X) has been developed to address these issues and increase surveillance, alerting, and resolution performance. This research investigates and assesses the performance of a prototype collision avoidance algorithm for low-level application tailored to the unique dynamic capabilities of multirotor small UASs (SUASs) based on the ACAS X framework. These unique capabilities of SUAS platforms allow them to hover, laterally deviate from the flight path, and use speed commands to resolve a conflict with potentially limited maneuvering space. The algorithm supports resolutions for both the horizontal and vertical domains. This paper describes the development and functioning of the prototype system, and it provides insight into the possible tailoring to specific operational and safety requirements for multirotor SUASs. <\/jats:p>","DOI":"10.2514\/1.i011158","type":"journal-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T05:16:14Z","timestamp":1657602974000},"page":"771-780","update-policy":"http:\/\/dx.doi.org\/10.2514\/aiaa_crossmarkpolicy","source":"Crossref","is-referenced-by-count":2,"title":["Prototype Collision-Avoidance System for Small Multirotor Unmanned Aircraft at Low Altitude"],"prefix":"10.2514","volume":"19","author":[{"given":"Maarten","family":"Kastelein","sequence":"first","affiliation":[{"name":"Ohio University, Athens, Ohio 45701"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chris","family":"Bartone","sequence":"additional","affiliation":[{"name":"Ohio University, Athens, Ohio 45701"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maarten","family":"Uijt de Haag","sequence":"additional","affiliation":[{"name":"Technical University of Berlin, 10587 Berlin, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1387","reference":[{"key":"r5","doi-asserted-by":"publisher","DOI":"10.2514\/6.2011-6921"},{"key":"r6","unstructured":"PetriM.SpriesterbachT. \u201cACAS Xu\u2013Ensuring Collision Avoidance Interoperability,\u201d Federal Aviation Administration, Aeronautical Surveillance Panel WP-ASP13-19, Washington, D.C., Sept. 2012."},{"key":"r7","unstructured":"\u201cUnmanned Aircraft Systems\u2013ATM Collision Avoidance Requirements,\u201d EUROCONTROL CND\/CoE\/CNS\/09-156, May 2010, https:\/\/skybrary.aero\/sites\/default\/files\/bookshelf\/3208.pdf [retrieved 29 June 2022]."},{"issue":"1","key":"r17","first-page":"17","volume":"19","author":"Kochenderfer M. J.","year":"2012","journal-title":"Lincoln Laboratory Journal"},{"key":"r21","doi-asserted-by":"publisher","DOI":"10.1109\/6979.898217"},{"key":"r22","unstructured":"KochenderferM. J.ChryssanthacopoulosJ. P.KaelblingL. P.Lozano-PerezT. \u201cModel-Based Optimization of Airborne Collision Avoidance Logic,\u201d Massachusetts Inst. of Technology, Lincoln Lab. Project Rept. ATC-360, Lexington, MA, Jan. 2010."},{"key":"r23","unstructured":"HottmanS. B.HansenK. R.BerryM. \u201cLiterature Review on Detect, Sense, and Avoid Technology for Unmanned Aircraft Systems,\u201d U.S. Dept. of Transportation, Federal Aviation Administration Rept. DOT\/FAA\/AR-08\/41, Sept. 2009."},{"key":"r25","unstructured":"GardinerB.AhmadW.CooperT.HaveardM.HoltJ.BiazS. \u201cCollision Avoidance Techniques for Unmanned Aerial Vehicles,\u201d Auburn Univ. TR CSSE11-01, Auburn, AL, Aug. 2011."},{"key":"r26","unstructured":"DanielsZ. A.WrightL. A.HoltJ. M.BiazS. \u201cCollision Avoidance of Multiple UAS Using a Collision Cone-Based Cost Function,\u201d Auburn Univ. TR CSSE12-07, Auburn, AL, 2012."},{"key":"r27","unstructured":"CastleM. \u201cAirborne Collision Avoidance System X (ACAS X) Overview,\u201d Federal Aviation Administration, June 2014, https:\/\/skybrary.aero\/sites\/default\/files\/bookshelf\/2839.pdf [retrieved 29 June 2022]."},{"key":"r30","unstructured":"KochenderferM. J.ChryssanthacopoulosJ. P. \u201cRobust Airborne Collision Avoidance through Dynamic Programming,\u201d Massachusetts Inst. of Technology, Lincoln Lab. Project Rept. ATC-371, Lexington, MA, Jan. 2011."},{"issue":"2","key":"r31","first-page":"41","volume":"17","author":"Kochenderfer M. J.","year":"2008","journal-title":"Lincoln Laboratory Journal"},{"key":"r32","unstructured":"KochenderferM. J.EspindleL. P.KucharJ. K.GriffithJ. D. \u201cCorrelated Encounter Model for Cooperative Aircraft in the National Airspace System Version 1.0,\u201d Massachusetts Inst. of Technology, Lincoln Lab. Project Rept. ATC-344, Lexington, MA, Oct. 2008."},{"key":"r33","doi-asserted-by":"crossref","unstructured":"MuellerE. R. \u201cMulti-Rotor Aircraft Collision Avoidance Using Partially Observable Markov Decision Processes,\u201d Ph.D. Dissertation, Aeronautics and Astronautics Dept. Stanford Univ., Stanford, CA, May\u00a02016, https:\/\/searchworks.stanford.edu\/view\/11685964 [retrieved 22 June 2022].","DOI":"10.2514\/6.2016-3673"},{"key":"r34","doi-asserted-by":"publisher","DOI":"10.2514\/6.2016-3673"},{"key":"r35","doi-asserted-by":"publisher","DOI":"10.2514\/6.2016-3674"},{"key":"r39","doi-asserted-by":"publisher","DOI":"10.2514\/1.D0260"}],"container-title":["Journal of Aerospace Information Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/arc.aiaa.org\/doi\/pdf\/10.2514\/1.I011158","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,12,7]],"date-time":"2022-12-07T05:30:39Z","timestamp":1670391039000},"score":1,"resource":{"primary":{"URL":"https:\/\/arc.aiaa.org\/doi\/10.2514\/1.I011158"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,12]]},"references-count":17,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2022,12]]}},"alternative-id":["10.2514\/1.I011158"],"URL":"https:\/\/doi.org\/10.2514\/1.i011158","relation":{},"ISSN":["1940-3151","2327-3097"],"issn-type":[{"value":"1940-3151","type":"print"},{"value":"2327-3097","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,12]]},"assertion":[{"value":"2022-06-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-06-02","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-07-11","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}