Multi-Vehicle Systems and Air Traffic Control Commons^™

Multimodal Interpretation Of Pilot–Controller Communications For Runway Safety Assurance And Enhanced Atc Situational Awareness., Chaebin Song, Juin Park

Discovery Day - Daytona Beach

Recent runway safety events have highlighted the importance of accurate and timely interpretation of pilot–controller communications, especially in complex airport environments where aircraft and ground vehicles interact on or near active movement areas. In light of the recent LaGuardia Airport collision, which has drawn attention to communication, coordination, and surface safety challenges, this project investigates how multimodal data can support air traffic controllers’ situational awareness and safety assurance. This study develops an in-progress framework that combines Automatic Speech Recognition (ASR) of pilot–controller radio communications with ADS-B trajectory data to improve interpretation of operational intent and cross-check communications against observed aircraft …

Improving Multi-Agent Swarm Collision Avoidance Using Reciprocal Velocity Obstacles, Nick Wilson

Discovery Day - Daytona Beach

As multi-agent systems grow increasingly complex, physical robotic swarms are essential to bridge the gap between limited software simulations and real-world application. The BID4R STARS swarm provides a physical platform for testing diverse algorithms, yet its success relies heavily on fundamental agent capabilities—most notably, obstacle avoidance. Preventing intra-swarm collisions is critical to avoid hardware damage and experimental disruption. To address this challenge, this project implements the Reciprocal Velocity Obstacles (RVO) algorithm onto the STARS swarm. While standard collision avoidance algorithms often overcorrect and induce oscillatory agent movement, RVO factors in the velocity and anticipated responses of all agents involved in …

Honeybee-Inspired Swarm Intelligence For Autonomous Adaptability Of Martian Infrastructure, Morgan Kendall

Discovery Day - Daytona Beach

Current research in autonomous space systems primarily relies on centralized control or swarm methods designed for fixed mission scenarios. These approaches lack the flexibility needed for long-duration Mars operations, where infrastructure must adapt to changing conditions, evolving mission goals, and limited human oversight. This creates a critical gap in developing autonomous systems capable of continuous self-organization. This gap is being addressed by developing a biologically inspired, adaptive Martian infrastructure using swarm intelligence. The scope includes key system domains such as power distribution, communication networks, and surface logistics. Agent-based modeling software will simulate infrastructure components as autonomous agents that evaluate local …

Applications Of A Swarm-Behavior Model On Existing Satellite Constellations, Naomi Lee

Discovery Day - Daytona Beach

The scope of this work explores biological swarm behavior and its application to low- and medium-sized Earth orbit satellite constellation systems. Existing constellation structures have predetermined orbits, meaning there is little adaptivity in the spacing and interactions between satellites. This allows for formation disruption by atmospheric perturbations in lower Earth orbit trajectories but can be countered with interactive controls that help with structure stability. This adaptive spacing and control can also be applied in MEO constellations in coverage and positioning optimization. In ‘mimicking’ this swarm behavior in starling murmurations, the separation, alignment, and cohesion flocking behavior of satellite groupings will …

Helio: Heliophysics Enhanced Learning For Intelligent Orbits, Kylie Nager, James Kirk

Discovery Day - Daytona Beach

HELIO: Heliophysics Enhanced Learning for Intelligent Orbits   Satellite constellations operating in near-Earth space are increasingly vulnerable to space weather disturbances, such as solar flares, coronal mass ejections (CMEs), and high-speed solar wind streams, which degrade communications, destabilize attitude control, and accelerate orbital decay. These disturbances directly threaten mission continuity, constellation availability, and space asset survivability. Current protective approaches rely primarily on ground-based alerts and lack integration with broader space domain awareness, which results in programmed reactive protocols that are often initiated too late to prevent performance degradation and asset loss. The HELIO project addresses this gap by turning space-weather forecasts …

Fault-Aware Flight Path Assessment For Evtols Using An Integrated Air Traffic Management Environment, John Clardy, Edison Alberto Martinez Samaniego

Discovery Day - Daytona Beach

This study introduces a simulation framework to evaluate Fault-Aware Flight Paths for electric vertical takeoff and landing (eVTOL) aircraft within an integrated air traffic management environment. By combining an air traffic management system with intelligent trajectory generation frameworks, the approach assesses the development of safe, adaptive, and fault-aware flight paths that account for traffic interactions, airspace features, and specific operational constraints. Real-world historical airspace traffic data was used to accurately simulate complex and congested operational conditions. The main goal is to evaluate the operational impact of integrating eVTOL operations into the National Airspace System, with a focus on conflict detection, …

Cars Imass - Comparing Llm Vs Human Operator Effectiveness In Multi-Agent Swarm Coordination, Gatlin Nelson

Discovery Day - Daytona Beach

Title: Dual-Perspective Risk Analysis for Human-LLM Decision Comparison in UAV Swarm Navigation   Unmanned aerial vehicle (UAV) swarms operating in low-altitude wireless network environments encounter localized disruptions that degrade positioning and navigation metrics. These disruptions are modeled as geographic failure zones with defined boundaries. A UAV discovers a zone by entering it and observing degraded performance on its onboard systems. This work assumes that affected UAVs can autonomously retreat to safety using onboard sensors and focuses on the subsequent rerouting decision. Once recovered, the system generates candidate repositioning points surrounding the vehicle, each scored using Conditional Value-at-Risk (CVaR). A human operator …

Phaëthon System, Brady Roudabush, Lauren Gallo, Emelia Thompson, Jacob Woods

Discovery Day - Daytona Beach

Phaëthon System is the project name for the Search and Rescue Drone Initiative. This initiative will improve the current search and rescue drone industry by introducing new techniques to get through dense forest canopies and other places where an overhead view is not useful. The Phaëthon System uses a swarm of drones that can penetrate under the tree canopy to map and search with the utmost efficiency and safety for rescuers. A command drone is launched to survey the overall search area, and set up a communications and data link. The next component is then released, which is a swarm …

Accelerating Search And Rescue Response: A Simulation Study On The Dynamic Efficiency Of Flocking-Enabled Drone Swarms, Sophia Beckwith, Carys Del Prete

Discovery Day - Daytona Beach

This project explores how imitations observed in animal group behavior, specifically flocking in birds, can be applied to the functionality of autonomous drone systems to aid in search and rescue efforts. The goal is to demonstrate how incorporating code based on the Boids, Vicsck and predictive control linear algebraic mathematical models for drone flight controls and the collective behaviors of flocks will increase the efficiency of drone maneuvers, allowing them to reorganize and fill gaps when one is removed. A MATLAB-based simulation was developed to model the behaviors using research conducted on the symmetric and synchronized behaviors observed from flocks …

Interplay Between Physical Design Choices And Emergent Cyber System Consensus: A Case Study With An Underwater Swarm, Ava Neubert

Discovery Day - Daytona Beach

Understanding how physical constraints influence collective behavior is critical for designing cyber-physical multi-agent systems in communication-limited environments. This project investigates how agent mobility and communication constraints affect opinion dynamics in a three-dimensional underwater swarm. An agent-based model was developed in AnyLogic, where agents follow realistic motion dynamics and exchange information at discrete communication intervals to reflect underwater limitations. Agent opinions are modeled using a BOIDS-inspired consensus mechanism in RGB space, allowing visualization of convergence behavior. A sensitivity analysis was conducted to evaluate the effects of communication range, agent speed, turn rate, and swarm size. Results show that communication range has …

Machine Learning For Predictive Energy And Emissions Modeling Of Vehicles And Power Grids In The United States, S M Tanvir Faysal Alam Chowdhoury

Dissertations

The environmental benefits of electric vehicle (EV) adoption depend on more than replacing internal combustion engine vehicles with electric powertrains. EV adoption reshapes electricity demand, interacts with regional generation mixes, and influences travel behavior and congestion, creating a coupled transportation-energy system in which vehicle and power-plant emissions must be evaluated together. This dissertation develops machine-learning frameworks for predicting energy consumption and emissions from vehicles and power grids under rising EV adoption. The first component forecasts grid emissions from EV charging. Using simulation data from NREL's Cambium database, a Prophet-based time-series framework predicts carbon dioxide, nitrous oxide, and methane emission rates …

Assessing Computer Vision Based Conflict Detection In Uas Traffic Monitoring Under Secure Communication Constraints, Fadjimata Issoufou Anaroua

Doctoral Dissertations and Master's Theses

The rapid growth of Unmanned Aircraft Systems (UAS) and Advanced Air Mobility (AAM) is creating a new low-altitude airspace ecosystem where drones, air taxis, service suppliers, communication networks, sensors, and ground-based monitoring systems must work together safely. Within this ecosystem, UAS Traffic Management (UTM) is expected to provide a digital framework for coordinating operations beyond traditional air traffic control. However, reliable integration also requires resilient monitoring methods that can detect non-cooperative aircraft, protect communication links, and maintain timely situational awareness under real-world constraints.

This dissertation examines how computer vision can support cooperative monitoring systems such as Remote ID and ADS-B …

The Pid-Based Three Quadcopter Uavs Formation Control Under External Disturbance, Vo Van An, Trinh Luong Mien

Makara Journal of Technology

This paper presents the design and evaluation of a formation control strategy for three quadcopter UAVs, based on a PID controller in a leader–follower structure, under the influence of external disturbances. Each UAV employs a six-degree of-freedom dynamic model and utilises a cascade PID control architecture, in which the inner control loop stabilises the attitude. In contrast, the outer control loop regulates position and maintains the formation. The PID parameters are tuned using the Ziegler–Nichols method to ensure simple implementation and low computational cost. The performance of the control system is evaluated through simulations in the MATLAB environment for two …

Cooperative Unmanned Aerial System (Uas) Geolocation Of Emitters, Christopher Peters

Electrical Engineering Theses and Dissertations

A collection of unmanned aerial systems (UAS) can be networked as a cooperative wireless sensor array to geolocate an unknown-location RF emitter using time-based measurements. In operation, however, environmental multipath and hardware errors in sensor positioning and timing can degrade emitter localization accuracy and limit the practicality of single-snapshot solutions. This dissertation evaluates time-of-arrival and time-difference-of-arrival (TOA/TDOA) geolocation for cooperative UAS arrays under realistic error sources and develops geometry-control strategies that actively reduce localization uncertainty through iterative UAS repositioning.

This work studies the Location on a Conic Axis (LOCA) method for emitter localization. Using Monte Carlo simulations with hardware error …

Statistical Analysis Of Log Transformation Effectiveness In Air Traffic Movement Forecasting During Covid-19 In South Africa, John Lehlaka Masekoameng

Journal of Aviation Technology and Engineering

This study evaluates the effectiveness of log transformation in enhancing multiple regression models used to forecast air traffic movements (ATMs) in South Africa during the COVID-19 pandemic. Using 60 monthly observations from October 2016 to September 2021, the analysis incorporates variables such as revenue, lockdown levels, COVID-19 metrics, exchange rates, gross domestic product, and population. Two models are compared: one using raw ATMs and another with log-transformed ATMs as the dependent variable.

While the untransformed model shows stronger explanatory power (R² = 0.904, adjusted R² = 0.891) compared to the log-transformed model (R² = 0.772, adjusted R² = 0.741), the …

Autonomous Uav Mission Planning Under Threat Using Model Predictive Control With Proportional-Navigation Pursuers, Mehmet B. Ozcelik

Mechanical and Aerospace Engineering Theses

Autonomous unmanned aerial vehicles (UAVs) operating in contested environments must

complete mission objectives while avoiding restricted regions, radar exposure, and pos-

sible interception. This thesis develops a MATLAB-based simulation framework for

two-dimensional UAV mission planning under threat using model predictive control and

proportional-navigation chasers. The mission requires the UAV to travel from a start

location to a goal while visiting required checkpoints and avoiding no-fly zones and radar

regions. A chaser attempts to intercept the UAV using either a basic pure-pursuit-style

law or a proportional-navigation guidance law.

The framework integrates environment generation, augmented visibility-graph rout-

ing, waypoint management, UAV kinematic …

Gaussian Process Regression–Based Uncertainty Quantification For Unmanned Aircraft System Traffic Management And Advanced Air Mobility Applications, Aakarshan Khanal

Mechanical and Aerospace Engineering Dissertations

Uncertainty quantification has gained significant attention in recent years as a research area in dynamical systems. Mathematical representations of the physical system, combined with an understanding of model uncertainties, enable the propagation of uncertainty in temporal space, which allows us to make informed decisions. However, what if the true dynamics of the system is unknown or too complex to define explicitly? In such cases, the system’s behavior can instead be inferred or learned from observed input–output data rather than from an analytical or physics-based model. To this end, this dissertation focuses on developing a data-driven framework for nonparametric dynamics modeling, …

A Feasibility Study Into The Usability And Application Of An Unmanned Aerial Vehicle For Aircraft Inspection And Quality Assurance Inspections, Reece P. Bhave

Journal of Aviation Technology and Engineering

The global aviation industry is often characterized as one of the safest modes of transportation in the modern world. With an abundance of quality assurance inspections and checks to determine operations safety, modern-day commercial aircraft that are utilized for passenger and cargo flights are held to a higher safety standard defined by regulatory bodies, such as the Federal Aviation Administration in the United States of America and the European Union Aviation Safety Agency in the European Union. While these quality standards are maintained via a series of inspections, checks, and preventative maintenance procedures, they are limited to only visual or …

Flysurf: A Flying Robotic Surface With Shape Morphing And Motion Control, Kevin Aubert De Luchi Lomellini

Electrical and Computer Engineering ETDs

This thesis introduces FlySurf, a novel flying robotic surface capable of simultaneous shape morphing and motion control. FlySurf is modeled as a mesh-based dynamic structure actuated by multiple unmanned aerial vehicles, enabling complex deformations during flight. The proposed control architecture comprises three main components. First, a state estimator to infer the robotic surface state from limited observations. Second, a shape trajectory planner that incorporates an affine deformation term to preserve surface integrity during shape transitions. Third, a surface controller to minimize the error between the desired and actual surface configurations.

The methodology is validated through realistic simulations and hardware experiments, …

Heterogeneous Boid Swarm Performance Under Environmental And Neighbor Communication Link Variability, Jonathan C. Oxborrow

Theses and Dissertations

Artificial swarms are of growing interest in numerous fields and use cases. As their utilization increases drones and robots with different capabilities will be required to coordinate for task completion thus creating heterogeneous swarms. Swarm individuals generally communicate with all neighbors inside their sensor range generating a significant amount of message traffic. Previous research of a heterogeneous group in a non-physical environment has shown that restricting communication to only one neighbor of each different capability maintained performance. This work applies that finding to a heterogeneous boid swarm with the addition of varied environmental conditions. The swarm is comprised of three …

Metaheuristic Techniques To Optimize Trajectory Planning Of Uav Swarms: Enhancing Data Acquisition In Wireless Sensor Networks, Nada Ali Mohamed Ahmed Ahmed

Theses and Dissertations

Unmanned aerial vehicles (UAVs) have become increasingly integrated into various applications due to their cost-efficiency, rapid deployment, flexible maneuvers, and enhanced performance. This has led to the development of a new field called UAV-assisted Wireless Sensor Networks (U-WSNs), which focus on data routing, network performance optimization, and planning UAV trajectories between sensor nodes in wireless sensor networks. In this thesis, a new framework has been proposed to manage a swarm of UAVs cooperatively serving large-scale wireless sensor networks. The framework consists of three optimization problems: distributing sensor nodes among UAVs, finding optimal trajectories in the presence of obstacles, and performing …

Topology-Driven Performance Analyses In Consensus Algorithms For Multi-Agent Systems, Brandon Ayala

Mechanical and Aerospace Engineering Theses - Archive

This thesis presents a simulation-based analysis of consensus algorithms in multi-agent systems, focusing on how network topology influences convergence performance. Both first-order and second-order linear consensus dynamics were examined across a variety of network configurations, including undirected and directed versions of cycle graphs, star graphs, minimum spanning trees, and fully connected graphs. In addition to standard consensus problems, leader-follower network structures were introduced to explore the impact of leader placement on convergence behavior, and extensions to multi-leader systems were analyzed to study robustness and convergence under multiple reference inputs. Graph-theoretic properties such as connectivity, degree distribution, and Laplacian eigenvalues were …

Multi-Agent Differential Games Under An Altruistic Equilibrium, Craig Alan Lovell

Mechanical and Aerospace Engineering Theses - Archive

This work studies a multi-agent differential game with linear dynamics under the Berge equilibrium. The governing coupled differential equations for a two-agent and a three-agent game under the Berge equilibrium are derived. These games are simulated and compared to the Nash equilibrium. A sensitivity study is performed which validates that, under some criteria, the Nash equilibrium can be recovered from the Berge equilibrium. Policy fusion between the Berge and Nash equilibrium is explored in a two-agent game. A five-agent game under the Berge equilibrium is simulated and multiple teams of agents in this game are evaluated. Finally, a mixed game, …

Aircraft Turnaround Bottlenecks: Addressing Ground Handling Delays For Operational Excellence, Vigneswaran Cm, Syedeen Khan, Benedict M, Srinath R, Mukesh Pr, Jayaram R Pothnis, Inamul Hasan

International Journal of Aviation, Aeronautics, and Aerospace

Ground handling delays at major airports pose significant challenges, impacting operational efficiency, airline schedules, and passenger satisfaction. This study explores the root causes of these delays, including resource constraints, operational inefficiencies, adverse weather, technical failures, and security issues. By examining case studies from major airports, the report identifies key solutions such as technology integration, infrastructure upgrades, staff training, standardized procedures, and enhanced communication systems. The findings underscore the importance of adopting proactive and collaborative approaches to optimize ground handling operations, ensuring smoother airport workflows and improved service delivery in the face of growing air traffic demands.

Security Enhancement In Aav Swarms: A Case Study Using Federated Learning And Shap Analysis, Sushmitha Halli Sudhakara, Lida Haghnegahdar

School of Cybersecurity Faculty Publications

As cyber-physical systems (CPSs) increasingly integrate physical and digital realms, securing critical infrastructure, such as the Port of Virginia, becomes paramount. Among CPSs, Autonomous Aerial Vehicles (AAVs) are vital for monitoring, communication, and supporting the command and control through remote reconnaissance and surveillance missions. These AAV applications often require coordination, planning, and runtime reconfiguration, traditionally managed by human decision-makers. However, this approach has limitations, as extensively documented in the literature. Artificial Intelligence (AI) has emerged as a pivotal tool to address these limitations, enhancing risk mitigation and informed decision-making. This research proposes a machine learning (ML) based security mechanism, leveraging …

Towards The Wearable Cardiorespiratory Sensors For Aerospace Applications, Chandan Sheikder

Journal of Aviation/Aerospace Education & Research

In safety-critical aviation operations, adaptive Human-Machine Interfaces (HMI) rely on accurate physiological monitoring to mitigate cognitive overload. While cardiorespiratory sensors are promising for real-time cognitive workload assessment, existing studies lack rigorous validation of consumer-grade devices in high-stress aviation contexts and fail to address measurement uncertainty propagation. This study evaluates the Zephyr BioHarness, a commercial wearable sensor, against clinical-grade equipment during arithmetic tasks simulating aviation cognitive demands. By integrating a neuro-fuzzy system with uncertainty propagation methods, we quantify the reliability of heart rate (HR) and breathing rate (BR) metrics for workload estimation. Results demonstrate moderate HR accuracy (RMSE: 4.85 bpm, CC: …

Benefits And Challenges Of Constructing Low-Altitude Air Route Network Infrastructure For Developing Low-Altitude Economy, Xiaohan Liao, Chenchen Xu, Huping Ye

Bulletin of Chinese Academy of Sciences (Chinese Version)

Low-altitude airspace is a resource that needs to be fully explored, and the low-altitude economy is a new type of economic activity resulted from low-altitude airspace exploration and utilization. As the primary players of low-altitude flight activities, the commercialization and wide applications of unmanned aerial vehicles (UAVs) are promoting the prosperity of the low-altitude economy. A low-altitude air route network is an effective means to ensure the safe and efficient operations of a large number of UAVs, and it is also a new key infrastructure hosting low-altitude traffic. The history shows that the investment on public transport infrastructure as a …

Impact Of Low-Altitude Technology On Low-Altitude Industry Development From Perspective Of Low-Altitude Economy, Yong Wang, Yusen Yang, Jimin Zeng, Zhenglong He, Zongxi Cen

Bulletin of Chinese Academy of Sciences (Chinese Version)

Low-altitude economy, as a typical representative of new quality productive forces and a strategic emerging industry, has become an important engine for promoting high-quality economic development and achieving technological self-reliance and self-improvement in China. This study systematically reviews the development trajectory of low-altitude economy, deeply elucidates the connotations and characteristics of low-altitude technology and its impact mechanisms on low-altitude industrial development, providing theoretical support for constructing a modernized low-altitude economic system. It finds that the concept of low-altitude economy has undergone a paradigm shift from industry terminology to economic formation, gradually completing the institutionalization process from strategic planning to legal …

Development Index Assessment And Future Prospects Of China’S Low-Altitude Economy, Jiaoe Wang, Delin Du, Zhuo Chen, Wenwei Tan

Bulletin of Chinese Academy of Sciences (Chinese Version)

With the gradual opening of low-altitude airspace and continuous advancements in low-altitude technology, the low-altitude economy has ushered in significant development opportunities, emerging as a quintessential example of new quality productive forces and garnering widespread attention from both the state and society. However, given China’s vast territory, the development trends and foundational conditions of the low-altitude economy vary considerably across regions, presenting distinct challenges and prospects. To accurately assess the development trends of the low-altitude economy, this study constructs an evaluation framework based on five dimensions, namely, innovation efficacy, industrial strength, scenario vitality, development potential, and support capability, and conducts …

Development Of Python Library For Spacecraft Modeling, Shreya Kale

College of Engineering Summer Undergraduate Research Program

This project involved developing a python library to be used in modeling spacecraft attitude dynamics and control