System-of-Systems Considerations in the Notional Development of a Metropolitan Aerial Transportation System

There are substantial future challenges related to sustaining and improving efficient, cost-effective, and environmentally friendly transportation options for urban regions. Over the past several decades there has been a worldwide trend towards increasing urbanization of society. Accompanying this urbanization are increasing surface transportation infrastructure costs and, despite public infrastructure investments, increasing surface transportation "gridlock." In addition to this global urbanization trend, there has been a substantial increase in concern regarding energy sustainability, fossil fuel emissions, and the potential implications of global climate change. A recently completed study investigated the feasibility of an aviation solution for future urban transportation (refs. 1, 2). Such an aerial transportation system could ideally address some of the above noted concerns related to urbanization, transportation gridlock, and fossil fuel emissions (ref. 3). A metro/regional aerial transportation system could also provide enhanced transportation flexibility to accommodate extraordinary events such as surface (rail/road) transportation network disruptions and emergency/disaster relief responses

Unmanned Aerial Vehicle (UAV)-Enabled Wireless Communications and Networking

The emerging massive density of human-held and machine-type nodes implies larger traffic deviatiolns in the future than we are facing today. In the future, the network will be characterized by a high degree of flexibility, allowing it to adapt smoothly, autonomously, and efficiently to the quickly changing traffic demands both in time and space. This flexibility cannot be achieved when the network’s infrastructure remains static. To this end, the topic of UAVs (unmanned aerial vehicles) have enabled wireless communications, and networking has received increased attention. As mentioned above, the network must serve a massive density of nodes that can be either human-held (user devices) or machine-type nodes (sensors). If we wish to properly serve these nodes and optimize their data, a proper wireless connection is fundamental. This can be achieved by using UAV-enabled communication and networks. This Special Issue addresses the many existing issues that still exist to allow UAV-enabled wireless communications and networking to be properly rolled out

Technology Assessment of eVTOL Personal Air Transportation System

This thesis intended to provide a holistic vision on the potential consequences of the introduction of emerging electrical Vertical Takeoff and Landing (e VTOL) Personal Air Transportation System (PATS) to contribute to the forming of public and policy opinion, and to assess the impacts and the feasibility of that. Instead of looking from a detailed vehicle design viewpoint, we tried to understand the need, the impacts, and the perceptions and the concerns of stakeholders. Thus, it was set a framework and methodology starting with a technology assessment point of view in the light of transportation system analysis. Limitations of the current ground and airline transportation systems, increasing congestion, poor block speed, combined with expanding population and demand for affordable on- demand mobility are driving the development of future transportation technology and policy. The third wave of aeronautics might be the answer and could bring about great new capabilities for society that would bring aviation into a new age of being relevant in daily lives since eVTOL PATS is envisioned as the next logical step in the natural progression in the history of disruptive transportation system innovations. However, there are a lot of questions. Although there was difficulty since the system was an emerging air transportation mode, an interdisciplinary study has been conducted to assess the impacts of developing such a capability. The research questions were determined to address the research objectives. What is the current state of mobility and eVTOL air transportation mode? What are the potential benefits of eVTOL air transportation mode for user and society? What are the perceptions of service providers, regulator, and user? What are the main challenges including technology, regulation, operation, social and environment aspects to enable the system? What are the enabling technologies? Nevertheless, with the results obtained lately from the research activities, revolutionary technologies and regulations are bringing us closer to eVTOL PATS reality every day. It can be argued that a new socio-technical transition will come about like the transition from horse drawn carriers to cars. Even if it is still a long way to go, it seems rather likely that the time has been arriving in the next decade. Their existence and operation would therefore need to be taken into consideration for today’s planning considerations and construction projects to be able to have this emerging air transportation mode available in the future. As the technology underlying eVTOL PATS evolves, wider eVTOL adoption across various markets is likely to be supported further if a set of key challenges such as safety and security, ease of use and autonomy, noise, infrastructure, and air traffic management are overcome. Achieving drastic improvements in ease of use, safety and community acceptable noise are the most critical steps towards the future feasibility of this market. Multi-use demos and demonstrating successful operation with early vehicles, namely eVTOL PATS prototype field operations, will create public acceptance and understanding of potentials in emerging air transportation mode for public good, use and learn in multiple applications. The overall perception of the user, service provider and regulator are positive, and the support is high. Shortly, a successful implementation and sustainable transition will depend on overcoming technological hurdles, regulatory frameworks, operational safety, cost competitiveness, and sensibilities of the affected communities. There is a need to enable people and goods to have the convenience of on-demand, point-to-point safe travel, further, anywhere in less travel time, through a network of pocket airports/vertiports, and there is a significant potential benefit so that policy makers, regulators and metropoles’ transportation planning departments should consider an inclusion of eVTOL air transportation mode into the scenarios and policies of the future.Esta tese pretende fornecer uma visão holística sobre as potenciais consequências da introdução do Sistema de Transporte Aéreo Pessoal (PATS) de Decolagem e Pouso Vertical elétrico emergente (e VTOL) para contribuir para a formação de opinião pública e política, e para avaliar os impactos e a viabilidade disso. Em vez de olhar de um ponto de vista detalhado o projeto do veículo, tentamos entender a necessidade, os impactos, as percepções e as preocupações das partes interessadas. Assim, foi definido um quadro e uma metodologia partindo de um ponto de vista de avaliação de tecnologia à luz da análise do sistema de transporte. As limitações dos atuais sistemas de transporte terrestre e aéreo, o aumento do congestionamento, a baixa velocidade do tráfego, combinados com a expansão da população e a mobilidade com procura acessível estão impulsionando o desenvolvimento de futuras tecnologias e políticas de transporte. A terceira onda da aeronáutica pode ser a resposta e pode trazer grandes novas capacidades para a sociedade que trariam a aviação para uma nova era de ser relevante na vida cotidiana, uma vez que o VTOL PATS é visto como o próximo passo lógico na progressão natural na história das inovações disruptivas do sistema de transporte. No entanto, há muitas perguntas. Embora tenha havido dificuldade por se tratar de um modo de transporte aéreo emergente, um estudo interdisciplinar foi realizado para avaliar os impactos do desenvolvimento de tal capacidade. As questões de investigação foram determinadas para atender aos objetivos do projeto. Qual é o estado atual da mobilidade e do modo de transporte aéreo eVTOL? Quais são os benefícios potenciais do modo de transporte aéreo eVTOL para o utilizador e a sociedade? Quais são as percepções dos provedores de serviços, regulador e utilizador? Quais são os principais desafios, incluindo tecnologia, regulamentação, operação, aspectos sociais e ambientais para habilitar o sistema? Quais são as tecnologias facilitadoras? No entanto, com os resultados obtidos ultimamente nas atividades de pesquisa, tecnologias e regulamentações revolucionárias estão nos aproximando cada dia mais da realidade do VTOL PATS. Pode-se argumentar que uma nova transição sócio-técnica ocorrerá como a transição de carruagens puxadas por cavalos para automóveis. Mesmo que ainda seja um longo caminho a percorrer, parece bastante provável que a hora esteja chegando na próxima década. A sua existência e operação, portanto, precisam ser levadas em consideração para as questões de planeamento e projetos de construção de hoje para poder ter esse modo de transporte aéreo emergente disponível no futuro. À medida que a tecnologia subjacente ao eVTOL PATS evolui, é provável que a adoção mais ampla do eVTOL em vários mercados seja ainda mais apoiada se um conjunto de desafios importantes, como segurança e proteção, facilidade de uso e autonomia, ruído, infraestrutura e gestão de tráfego aéreo forem superados. Alcançar melhorias drásticas na facilidade de uso, segurança e ruído aceitável pela comunidade são os passos mais críticos para a viabilidade futura deste mercado. Demonstrações multi-uso e demonstração de operação bem- sucedida com veículos iniciais, ou seja, operações de campo do protótipo eVTOL PATS, criarão aceitação pública e compreensão dos potenciais no modo de transporte aéreo emergente para o bem público, uso e aprendizado em várias aplicações. A percepção geral do utilizador, prestador de serviço e regulador é positiva, e o suporte é alto. Uma implementação bem-sucedida e uma transição sustentável dependerá da superação de obstáculos tecnológicos, estruturas regulatórias, segurança operacional, competitividade de custos e sensibilidade das comunidades afetadas. Há uma necessidade de permitir que pessoas e mercadorias tenham a conveniência de viagens seguras de que necessitam, ponto a ponto, e além disso, em qualquer lugar em menos tempo de viagem. Isso pode ser feito por meio de uma rede de aeroportos/vertiports, e há um benefício potencial significativo para que os formuladores de políticas, reguladores e departamentos de planeamento de transporte das grandes metrópoles considerem a inclusão do modo de transporte aéreo eVTOL nos cenários e políticas do futuro

Algorithms for multi-robot systems on the cooperative exploration & last-mile delivery problems

La aparición de los vehículos aéreos no tripulados (UAVs) y de los vehículos terrestres no tripulados (UGVs) ha llevado a la comunidad científica a enfrentarse a problemas ideando paradigmas de cooperación con UGVs y UAVs. Sin embargo, no suele ser trivial determinar si la cooperación entre UGVs y UAVs es adecuada para un determinado problema. Por esta razón, en esta tesis, investigamos un paradigma particular de cooperación UGV-UAV en dos problemas de la literatura, y proponemos un controlador autónomo para probarlo en escenarios simulados. Primero, formulamos un problema particular de exploración cooperativa que consiste en alcanzar un conjunto de puntos de destino en un área de exploración a gran escala. Este problema define al UGV como una estación de carga móvil para transportar el UAV a través de diferentes lugares desde donde el UAV puede alcanzar los puntos de destino. Por consiguiente, proponemos el algoritmo TERRA para resolverlo. Este algoritmo se destaca por dividir el problema de exploración en cinco subproblemas, en los que cada subproblema se resuelve en una etapa particular del algoritmo. Debido a la explosión de la entrega de paquetes en las empresas de comercio electrónico, formulamos también una generalización del conocido problema de la entrega en la última milla. En este caso, el UGV actúa como una estación de carga móvil que transporta a los paquetes y a los UAVs, y estos se encargan de entregarlos. De esta manera, seguimos la estrategia de división descrita por TERRA, y proponemos el algoritmo COURIER. Este algoritmo replica las cuatro primeras etapas de TERRA, pero construye una nueva quinta etapa para producir un plan de tareas que resuelva el problema. Para evaluar el paradigma de cooperación UGV-UAV en escenarios simulados, proponemos el controlador autónomo ARIES. Este controlador sigue un enfoque jerárquico descentralizado de líder-seguidor para integrar cualquier paradigma de cooperación de manera distribuida. Ambos algoritmos han sido caracterizados para identificar los aspectos relevantes del paradigma de cooperación en los problemas relacionados. Además, ambos demuestran un gran rendimiento del paradigma de cooperación en tales problemas, y al igual que el controlador autónomo, revelan un gran potencial para futuras aplicaciones reales.The emergence of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has conducted the research community to face historical complex problems by devising UGV-UAV cooperation paradigms. However, it is usually not a trivial task to determine whether or not a UGV-UAV cooperation is suitable for a particular problem. For this reason, in this thesis, we investigate a particular UGV-UAV cooperation paradigm over two problems in the literature, and we propose an autonomous controller to test it on simulated scenarios. Driven by the planetary exploration, we formulate a particular cooperative exploration problem consisting of reaching a set of target points in a large-scale exploration area. This problem defines the UGV as a moving charging station to carry the UAV through different locations from where the UAV can reach the target points. Consequently, we propose the cooperaTive ExploRation Routing Algorithm (TERRA) to solve it. This algorithm stands out for splitting up the exploration problem into five sub-problems, in which each sub-problem is solved in a particular stage of the algorithm. In the same way, driven by the explosion of parcels delivery in e-commerce companies, we formulate a generalization of the well-known last-mile delivery problem. This generalization defines the same UGV’s and UAV’s rol as the exploration problem. That is, the UGV acts as a moving charging station which carries the parcels along several UAVs to deliver them. In this way, we follow the split strategy depicted by TERRA to propose the COoperative Unmanned deliveRIEs planning algoRithm (COURIER). This algorithm replicates the first four TERRA’s stages, but it builds a new fifth stage to produce a task plan solving the problem. In order to evaluate the UGV-UAV cooperation paradigm on simulated scenarios, we propose the Autonomous coopeRatIve Execution System (ARIES). This controller follows a hierarchical decentralized leader-follower approach to integrate any cooperation paradigm in a distributed manner. Both algorithms have been characterized to identify the relevant aspects of the cooperation paradigm in the related problems. Also, both of them demonstrate a great performance of the cooperation paradigm in such problems, and as well as the autonomous controller, reveal a great potential for future real applications