Multi-droe four-dimesioal flight costrait maagemet Abstract With the emergece of the umaed aerial vehicle (UAV) eco-system for commercial ad eterprise markets, multi-droe traf c maagemet has become critical to esure ef ciecy ad safety of 1 airspace. Guidelies pertaiig to umaed traf c maagemet (UTM) are beig drafted, ecompassig air traf c cotrol, detect, sese, ad avoid (DSAA) techology, 3D ight plaig, ad ight safety with geo-fecig ad o- y zoes. Itroductio of autoomous droes caterig to multiple market segmets across telecom, retail, maufacturig, trasportatio, healthcare, ad public safety madates a more robust traf c maagemet approach. While three-dimesioal airspace maagemet icludes ovel approaches such as sky-laes ad sky-corridors, additioal fourdimesioal (airspace ad time) ight costraits moitorig ad mitigatio is critical to eable collisio-free ad safe ights. This paper focuses o a autoomous approach to resolve 4D costraits. It takes ito cosideratio that the origial ight pla of the multi-droe ecosystem is ot chured durig 4D costraits resolutio. This is a importat value-add, as 3D co ict resolutio usually ivolves deviatio from the plaed ight path.
Treds ad Challeges The addressable market for a cosolidated droe ecosystem is 2 expected to grow to $127 Billio by 2020. This expoetial rise is beig drive by rapidly evolvig droe techologies that power ew busiess ad operatig models. Use cases employig droe techology spa multiple idustries, where droes are beig itegrated with existig busiess processes, eablig Droe-as-a-Service. As the ecosystem evolves ad droes are widely deployed, the eed for effective airspace maagemet also becomes importat. I the maed airspace, air traf c cotrol (ATC) maually caters to ad resolves the 4D costraits. However, i the UAV ecosystem with multiple droes, maual itervetio would be time-cosumig ad proe to humaerror, ad is ot a optimal solutio. A autoomous approach to moitor, detect, ad mitigate 4D co ict would be the preferred ad recommeded approach for streamlied UAV traf c maagemet. Advacemets i techology are already powerig autoomous ad beyod visual lie of sight droes (BVLOS) ights that would be leveraged for Droe-as-a-Service. Idividual UAV service suppliers (USSs) would coordiate with UTM providers for ight pla veri catio, approvals, ad real-time moitorig. While the ight plas get validated for airspace, ight path ad o- y zoe co icts, 4D costrait moitorig ad mitigatio will be essetial to ehace the safety ad service effectiveess of autoomous or BVLOS droes. Approach Let us cosider a use-case where idepedet UAV service suppliers are deliverig Droe-as-a-Service for retail-delivery at a eterprise. While the idividual ight plas are preapproved by UTM, airspace ad time costraits could be ecoutered. Imagie a sceario where two packages, oe cotaiig medical supplies ad the other with corporate letters from differet USSs, are arrivig at the same time at a compay s desigated ladig zoe. While each of the above services eeds to be executed, the co ict must be tackled to esure that the USSs are successful i deliverig the packages ad meetig their SLAs.
We preset a approach to moitor ad resolve these 4D costraits by employig a localized, multi-droe airspace 3 maager. The airspace maager is a setup of ArduCopter ad 4 MAVlik, represetig multiple USSs i the ecosystem, to which the groud cotrol is itegrated through ope REST APIs 5 usig ICAROUS. The approach takes ito cosideratio the existig recommedatios of UTM applicable for USSs, ad implemets a modular plugi, icorporatig applicatio logic ad iterface to USSs to maage the 4D costraits. Moitor, Detect, ad Mitigate The approach has bee desiged for a localized multi-droe eco-system, where multiple USSs are providig Droe-As-A- Service. I this use case, we have cosidered USS-1 deliverig critical medical supplies ad USS-2 deliverig stadard corporate letters at the eterprise s desigated ladig zoe. Eterprise Air-Space Tata Cosultacy Services USS - 1 (Deliverig: Medical supplies) Outer Skyview Corporate Park GG7 South Block TCS Ier Ladig Coordiates Same time arrival - airspace ad time costraied USS - 2 (Deliverig: Corporate letters) Figure 1- Multi-Droe Ecosystem: Retail Delivery Sceario The modular plugi implemeted for the approach validatio is itegrated with the discussed airspace maagemet solutio. The solutio registers ad starts moitorig the droes oce they eter the eterprise s outer perimeter, ad computes the possibility of a 4D co ict betwee the idepedet USS droes. If such a costrait is detected, the solutio works with the USS UTM system to take ito cosideratio additioal ight parameters- service prioritizatio, service type, payload type,
Localized Multi-droe airspace moitorig Airspace & Time costrait detectio Localized Multi-droe Airspace Maager ad droe telemetry data. It the uses the pre-de ed busiess logic to recommed the mitigatio pla to the USS droes loiter withi the ier perimeter or proceed to y to the ladig zoe. The idepedet USSs are directed to execute the mitigatio pla, thus resolvig the 4D costrait. Post co ict resolutio, the droes proceed with the approved ight paths. The key teet of the approach is that the origial approved ight path of the USS droe is ot altered to maage the airspace ad time co ict. Eterprise Airspace Ier Outer Icomig UAV flight pla shared (by UTM) Moitorig whe Droe eters Outer perimeter Coflict detected UAV Traffic Maager (UTM) UAV Service Supplier-1 (USS-1) Registratio ad Flight pla approvals Retrieve additioal flight details Service Type, Priority, Delivery cotet, Droe Telemetry UAV Service Supplier-2 (USS-2) UTM-USS stadard guidelies for Droe flight plaig ad moitorig Four-dimesioal costrait mitigatio Coflict mitigatio computatio USS-1: Proceed to ladig zoe for drop-off (carryig medical-supplies) USS-2: Hold droe (loiter) at Ier perimeter (carryig corporate-letters) USS-1: Post delivery proceed with fly-away from Eterprise airspace USS-2: Proceed to ladig zoe for drop-off (carryig corporate-letters) USS-2: Post delivery proceed with fly-away from Eterprise airspace Figure 2 Multi-Droe 4D Flight Costrait Maagemet Additioal features that ca be implemeted iclude: Autoomous BVLOS/UAV positioig usig GPS, wireless triagulatio ad droe telemetry Geo-fece markup ad cosideratio Proximity alertig, i case the UAV is earig a o- y zoe Exigecy support to eable safe ladig of the UAVs i the localized air space, withi the outer perimeter Ope iterface to support the itegratio with UTM ad USS The proposed approach ad the itegrated solutio would drive agility i droe services across multiple idustry segmets. Here are some possible deploymets where 4D costrait mitigatio would help deliver effective Droe-as-a-Service: Eterprises: Localized multi-droe airspace maagemet Retail: Commercial establishmet eablig o-time delivery or pick-up
Public safety: Multi-USS collaboratio Healthcare: Cohesive operatios for emergecy respose, ad search ad rescue operatios Etertaimet: Live streamig Telecom: Cell o wigs (COW), o-demad etwork - Wi-Fi, wireless Roadmap Next steps The discussed approach is desirable for localized multi-droe airspace maagemet, esurig autoomous, agile 4D costrait moitorig, detectio, ad mitigatio. While this paper demostrates the recommeded approach for 4D costrait maagemet, there is scope for additioal ehacemets to tackle more complex co icts. Some of these are: Fleet maagemet: Provide Droe-as-a-Service, leveragig a eet. Withi the eet, the respective USS would hadle costraits, ad across idepedet USSs, four-dimesioal costraits would be moitored ad resolved. Security cosideratios: Detect rouge UAVs ad trigger alerts Regulatory guidelies: Iclude deploymet speci c guidelies that would be applicable for a eterprise or idustry. For istace, i a public safety use-case, law eforcemet ad medical care UAVs will get prioritizatio over ews-reportig UAVs AI eablemet: Deploy a itelliget model to replace the existig rule-based model, takig ito cosideratio multiple ight parameters while decidig o the co ict mitigatio approach Refereces [1] Umaed Aircraft System (UAS) Traf c Maagemet (UTM), accessed Oct 2017, https://utm.arc.asa.gov/ [2] Sigle Europea Sky ATM Research Joit Udertakig (SESARJU) U-Space, access Oct 2017, https://www.sesarju.eu/u-space-blueprit [3] Global Market for Commercial Applicatios of Droe Techology Valued at over $127 b, access Nov 2017, https://press.pwc.com/news-releases/global-market-for-commercial- applicatios-of-droe-techology-valued-at-over--127-b/s/ac04349e-c40d-4767-9f92- a4d219860cd2 [4] Ardupilot - http://ardupilot.org/ [5] Micro Air Vehicle Commuicatio Protocol - http://qgroudcotrol.org/mavlik/start [6] Itegrated Co gurable Algorithms for Reliable Operatios of Umaed Systems - https://github.com/asa/icarous
About The Authors Partha Datta Partha Datta is a Seior Domai Cosultat with TCS' Techology busiess uit. With over 18 years of experiece i the l telecom idustry, he heads the NextGe R&D group withi the uit. Datta works closely with TCS' cliets the world over i coceptualizig techology solutios to eable value-added busiess processes trasformatio, specifically i the areas of SD-WAN, droes, robotics, ad AI. He has a Master's degree i Istrumetatio from the Idia Istitute of Sciece (IISc), Bagalore, Idia. Shivai Pathak Shivai Pathak is a Solutio Architect with TCS' Techology busiess uit. With seve years of experiece i architectig solutios for telecom ad bakig idustries, Pathak desigs architectural frameworks for viable use-cases to overcome the challeges i areas of droes, robotics, ad multimedia processig. She has a Master's degree i Computer Sciece from the Mody Istitute of Techology ad Sciece, Rajastha, Idia. Halima Naim Halima Naim is a Lead Solutios Egieer with TCS' Techology busiess uit, focusig o droes ad UAV traffic maagemet. She has six years of experiece ad specializes i the implemetatio of proofs-of-cocept leveragig the droe ecosystem, helpig busiesses save time ad developmet cost, ad accelerate the time-to-market. Naim has a Master's degree i Computer Applicatios from Aligarh Muslim Uiversity, Aligarh, Idia. Cotact Visit the Commuicatios, Media & Techology page o www.tcs.com Email: marketig.techbu@tcs.com Subscribe to TCS White Papers TCS.com RSS: http://www.tcs.com/rss_feeds/pages/feed.aspx?f=w Feedburer: http://feeds2.feedburer.com/tcswhitepapers Razi Ahmed Razi Ahmed is a Domai Cosultat with TCS' Techology busiess uit. He has close to four years of experiece ad focuses o software defied etworkig (SDN), ad droe- ad AI-related solutio accelerators to eable differetiated services for autoomous ecosystems. Ahmed has a Bachelor's degree i Electroics ad Commuicatio from SRM Uiversity, Cheai, Idia. About Tata Cosultacy Services Ltd (TCS) Tata Cosultacy Services is a IT services, cosultig ad busiess solutios orgaizatio that delivers real results to global busiess, esurig a level of certaity o other firm ca match. TCS offers a cosultig-led, itegrated portfolio of IT ad IT-eabled, ifrastructure, egieerig ad assurace services. This is TM delivered through its uique Global Network Delivery Model, recogized as the bechmark of excellece i software developmet. A part of the Tata Group, Idia s largest idustrial coglomerate, TCS has a global footprit ad is listed o the Natioal Stock Exchage ad Bombay Stock Exchage i Idia. For more iformatio, visit us at www.tcs.com All cotet / iformatio preset here is the exclusive property of Tata Cosultacy Services Limited (TCS). The cotet / iformatio cotaied here is correct at the time of publishig. No material from here may be copied, modified, reproduced, republished, uploaded, trasmitted, posted or distributed i ay form without prior writte permissio from TCS. Uauthorized use of the cotet / iformatio appearig here may violate copyright, trademark ad other applicable laws, ad could result i crimial or civil pealties. Copyright 2017 Tata Cosultacy Services Limited TCS Desig Services I M I 01 I 18