Download or read book Receding Horizon Control for Autonomous UAS Shipboard Landing with Tau Guidance and Polynomial Trajectory Planning written by Emma Jaques and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: It can be very difficult to autonomously land a small UAS (Unmanned Aerial System) on a ship deck that is in motion on the water in the presence of sea and air disturbance conditions. In this thesis, a technique was developed to perform receding horizon control using fast closed form path planning. This technique involves the use of second order tau guidance to determine an initial landing path and subsequent path re-plans at fixed intervals using fifth order Chebyshev polynomial path planning that enables matching of position, velocity, and acceleration at both the start and end of the path. The path is represented in non-dimensional form with position normalized by distance to goal and time normalized by the desired time-to-touchdown. Certain state-based criteria were chosen that would necessitate a go-around maneuver and path adjustments were made within each re-plan to determine if the criteria could be bypassed or if a go-around was needed. A simulation was built in MATLAB to test the receding horizon control system in a variety of light wind environments. This simulation was used to generate single-flight tests to view the calculated optimal flight paths in different disturbance environments. It was also used to generate Monte Carlo data sets to determine the best UAS beginning positional locations and the limits of disturbance tolerance to increase the odds of a successful shipboard landing.

Download or read book Autonomous Trajectory Planning and Guidance Control for Launch Vehicles written by Zhengyu Song and published by Springer Nature. This book was released on 2023-04-15 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book highlights the autonomous and intelligent flight control of future launch vehicles for improving flight autonomy to plan ascent and descent trajectories onboard, and autonomously handle unexpected events or failures during the flight. Since the beginning of the twenty-first century, space launch activities worldwide have grown vigorously. Meanwhile, commercial launches also account for the booming trend. Unfortunately, the risk of space launches still exists and is gradually increasing in line with the rapidly rising launch activities and commercial rockets. In the history of space launches, propulsion and control systems are the two main contributors to launch failures. With the development of information technologies, the increase of the functional density of hardware products, the application of redundant or fault-tolerant solutions, and the improvement of the testability of avionics, the launch losses caused by control systems exhibit a downward trend, and the failures induced by propulsion systems become the focus of attention. Under these failures, the autonomous planning and guidance control may save the missions. This book focuses on the latest progress of relevant projects and academic studies of autonomous guidance, especially on some advanced methods which can be potentially real-time implemented in the future control system of launch vehicles. In Chapter 1, the prospect and technical challenges are summarized by reviewing the development of launch vehicles. Chapters 2 to 4 mainly focus on the flight in the ascent phase, in which the autonomous guidance is mainly reflected in the online planning. Chapters 5 and 6 mainly discuss the powered descent guidance technologies. Finally, since aerodynamic uncertainties exert a significant impact on the performance of the ascent / landing guidance control systems, the estimation of aerodynamic parameters, which are helpful to improve flight autonomy, is discussed in Chapter 7. The book serves as a valuable reference for researchers and engineers working on launch vehicles. It is also a timely source of information for graduate students interested in the subject.

Download or read book Shipboard UAS Operations with Optimized Landing Trajectories written by Jintasit Pravitra and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aircraft Systems (UASs) have become increasingly important assets for naval and maritime law enforcement operations. In response to the ever-increasing demand for safe autonomous systems, this dissertation presents a development of an unmanned rotorcraft system capable of operating with a ship. The dissertation presents several software components, including ship motion simulation, ship motion prediction, and a practical integration between model predictive controllers and an autopilot. The UAS was flight validated by operating off the US Naval Academy's yard patrol craft as the craft was underway in the Chesapeake Bay. Autonomous capabilities including takeoff, landing, station-keeping, and maneuvering relative to the ship were successfully demonstrated. The key element for the success of the test was the RTK relative positioning solution between the helicopter and the moving ship. Since landing a helicopter on a moving ship is an extremely difficult task, this dissertation also proposes a new trajectory generation algorithm that can land on an aggressively moving target. Because a similar issue also occurs with manned helicopters, this algorithm is not only beneficial for UAS operations but can also be applied to help reduce pilot workload in manned operations. The algorithm utilizes the recent availability of small form factor graphics processing units (GPUs). Multiple optimal control problems will be solved online and in parallel. Each optimal control problem corresponds to different time horizons and different target states. Iterative Linear Quadratic Regulator (iLQR) is selected due to its convergence property. Similar to Differential Dynamic Programming (DDP), iLQR solves an optimal control problem through a back-and-forth scheme where the optimal control law is updated during the backward pass, and the trajectory is updated during the forward pass. The novel algorithm is termed Ensemble iLQR (EiLQR), and it includes several notable properties. 1) Analytical expression of the target dynamics is not required, and only the state sequence of the target is needed. 2) Multiple solutions are available, and the autopilot has the liberty to select the best trajectory to fly. 3) Because iLQR is a nonlinear optimal control algorithm, relative attitude minimization can be formulated directly. Relative attitude minimization is essential for soft touchdown, especially when the deck is pitching and rolling with substantial magnitude. EiLQR is validated in simulation and is shown to work well against moderate sea states. EiLQR outperforms a purely reactive landing guidance on both touchdown position dispersion and impact velocity. To demonstrate the practicality of the algorithm, EiLQR was also flight tested against a static ground. The computational performance of the GPU is also included.

Download or read book Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States written by Junfeng Yang and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Rotorcraft, due to their unique vertical take-off and landing capability, are well-suited for maritime applications. The capability of shipboard launch and recovery of a rotorcraft allows extension of the operational envelope of a single ship as well as the whole fleet. However, due to the cross-axes coupling, inherent instability and sluggish response, accurate and soft landing of rotorcraft is a challenging task, especially when the flight deck is moving in high sea states and in the presence of adverse factors such as the gusty airwake and limited space. In low to medium sea state, an experienced pilot can designate a window of quiescent ship motion to perform the landing while also using an intuitive predictive strategy. In very high sea states, the workload and control precision become unacceptable, and therefore motivate the development of an automated landing system. This thesis contributes both theoretical investigations and technical solutions to the guidance, navigation and control for an autonomous shipboard recovery mode in high states. Using the high-fidelity modeling software FLIGHTLAB together with ship airwake and motion models, the specific aspects of rotorcraft flight dynamics and the characteristics of the shipboard landing environment were studied and provided guidelines for the formulation of design requirements. The Dynamic Inversion method was applied to design an inner-loop attitude control system and then an outer-loop trajectory following system, and the associated design problems such as control parameter optimization, robustness testing are discussed. In order to provide a fully autonomous capability, a parameterization and optimization algorithm was developed for approach path generation. The resulting path geometry and velocity profile can ensure fundamental flight safety but also provide enough flexibility for console operators to specify approach azimuth and steepness. A landing path generator incorporating predictive deck state has been developed to complete the last stage of shipboard recovery, both forecasting and instantaneous measurement of deck state are used to construct the commanded descent trajectory through a hybrid implementation. The technical adequacy of high-grade vehicle location and motion detection has been proven by an integrated navigation system incorporating information from GPS, inertial measurement unit and shipboard tracking system. Stand-alone testing of system components, as well as comprehensive testing of the entire system from approach entry to touchdown have been carried out using FLIGHTLAB simulations. As justified by the simulation results: the scientific concept and engineering approach developed in this thesis show great potential to an overall solution to the challenging problems of shipboard recovery of rotorcraft in high sea states in a fully autonomous mode.

Download or read book Receding Horizon Robot Control for Autonomous Spacecraft Capture written by Christopher Meckstroth and published by . This book was released on 2010 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt: A large portion of desired future space missions require spacecraft having the ability to autonomously rendezvous and grapple one another. This thesis investigates the second portion of this task, namely the real-time path planning of a 7 degree of freedom robotic arm for the purpose of autonomously grappling satellites using a method based on Receding Horizon Control (RHC). RHC was chosen for the algorithm's ability to perform in real-time by calculating the path over a future time interval while traversing the previously calculated path. A successful grapple requires the dexterous arm to maneuver an end effector into the cylindrical hole provided by one of the four fixtures used to attach the satellite to the launch vehicle which placed it into orbit. This must be accomplished while maintaining constraints and limitations imposed by the robot arm kinematics and joint limitations and at the same time avoiding interference with other portions of the satellite such as the thruster nozzle. A 3-D Visualization Software Toolkit was developed for the simulation and validation of the path planner developed in this thesis. Using this software, a fully simulated experiment was developed in which the robot arm attempted to grapple each of the attachment fixtures from a total of 8,000 different random initial arm poses. The results showed goals were achieved in both planning of the path in real-time with average calculation times of the entire path less than 20 seconds and success in grappling the target satellite with without ever failing when grappling the nearest attachment fixture to the robot end effector for joint angles separately varying uniformly by ±30 degrees.

Download or read book Model Scale Evaluation of Autonomous Ship Landing Guidance and Control Modes for Rotorcraft written by Christopher Hendrick and published by . This book was released on 2024 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ship landing in high sea states is a challenge for both manned and unmanned rotorcraft. A system that provides reliable autonomous recovery of ship-based rotorcraft could reduce mishap rates and reduce costs associated with training and certification testing. Such a system might also increase operational capability by allowing operations in more severe wave and wind conditions. These potential benefits have motivated a significant amount of public domain research on autonomous ship landing algorithms for rotorcraft. Existing works have primarily been simulation based, however, and the rigorous experimental evaluation of advanced landing algorithms is lacking in the public-domain literature. This is due in part to the inaccessibility of full-scale testing. Model-scale testing, on the other hand, offers a more accessible test bed for vetting autonomous landing solutions and has therefore been utilized in all existing openly available experimental studies. These studies have not considered the scaling of either the closed-loop aircraft dynamics or ship motions, however, meaning key aspects of the full-scale landing scenario may not be realistically represented at model-scale. The objective of this research was to develop a methodology for performing dynamically scaled autonomous ship landing experiments, and then to use the proposed scaling method to perform a rigorous experimental analysis of advanced autonomous landing guidance and control modes. Toward this end, Froude scaling is proposed for relating aircraft closed-loop dynamics and ship motions across test scales and the validity of this method is then analyzed. Two representative landing guidance algorithms were then developed and experimentally evaluated using the proposed scaling methodology. The first is an advanced landing strategy that uses quadratic programming (QP) optimization to plan the landing path to a forecasted deck state. The second is a simpler ``baseline'' guidance method that tracks deck motions while closing the distance between the aircraft and deck at a constant rate. Both guidance algorithms command position and heading to an explicit model following (EMF) control law. The guidance algorithms were first evaluated in experiments conducted in the Maneuvering and Seakeeping Basin (MASK) located at the Naval Surface Warfare Center Carderock Division. During these experiments, control law parameters were modified to impose artificial constraints on the maneuverability of the aircraft, providing insight into how well both guidance methods can cope with a less agile airframe. The results showed that the predictive landing strategy allowed for more direct landing paths to be planned when compared to the baseline algorithm and can also allow for landings to be performed with lower control bandwidth. The baseline guidance algorithm, on the other hand, proved to be both simple and reliable when the UAV was in high bandwidth configurations, but may not be feasible for aircraft with limited control authority that must land in moderate to high sea states. The experimental setup in the MASK did not include aerodynamic disturbances. Additional flight tests were therefore performed in the Penn State Indoor Flight Facility to determine if the QP guidance algorithm offers any advantage over the baseline method when operating in the presence of a significant aerodynamic disturbance. The experimental results obtained at Penn State did not indicate that the QP algorithm provides a definitive advantage over the baseline algorithm in terms of matching deck position, velocity, and attitude at landing while operating in a gusty environment. The QP algorithm did allow for landings with a shorter duration, however, resulting in lower total control usage due to less time operating in aerodynamic disturbances.

Download or read book Path Planning Guidance and Control for a UAV Forced Landing written by Pillar C.S. Eng and published by . This book was released on 2011 with total page 173 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.

Download or read book Handbook of Unmanned Aerial Vehicles written by Kimon P. Valavanis and published by Springer. This book was released on 2014-08-29 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Handbook of Unmanned Aerial Vehicles is a reference text for the academic and research communities, industry, manufacturers, users, practitioners, Federal Government, Federal and State Agencies, the private sector, as well as all organizations that are and will be using unmanned aircraft in a wide spectrum of applications. The Handbook covers all aspects of UAVs, from design to logistics and ethical issues. It is also targeting the young investigator, the future inventor and entrepreneur by providing an overview and detailed information of the state-of-the-art as well as useful new concepts that may lead to innovative research. The contents of the Handbook include material that addresses the needs and ‘know how’ of all of the above sectors targeting a very diverse audience. The Handbook offers a unique and comprehensive treatise of everything one needs to know about unmanned aircrafts, from conception to operation, from technologies to business activities, users, OEMs, reference sources, conferences, publications, professional societies, etc. It should serve as a Thesaurus, an indispensable part of the library for everyone involved in this area. For the first time, contributions by the world’s top experts from academia, industry, government and the private sector, are brought together to provide unique perspectives on the current state-of-the-art in UAV, as well as future directions. The Handbook is intended for the expert/practitioner who seeks specific technical/business information, for the technically-oriented scientists and engineers, but also for the novice who wants to learn more about the status of UAV and UAV-related technologies. The Handbook is arranged in a user-friendly format, divided into main parts referring to: UAV Design Principles; UAV Fundamentals; UAV Sensors and Sensing Strategies; UAV Propulsion; UAV Control; UAV Communication Issues; UAV Architectures; UAV Health Management Issues; UAV Modeling, Simulation, Estimation and Identification; MAVs and Bio-Inspired UAVs; UAV Mission and Path Planning; UAV Autonomy; UAV Sense, Detect and Avoid Systems; Networked UAVs and UAV Swarms; UAV Integration into the National Airspace; UAV-Human Interfaces and Decision Support Systems; Human Factors and Training; UAV Logistics Support; UAV Applications; Social and Ethical Implications; The Future of UAVs. Each part is written by internationally renowned authors who are authorities in their respective fields. The contents of the Handbook supports its unique character as a thorough and comprehensive reference book directed to a diverse audience of technologists, businesses, users and potential users, managers and decision makers, novices and experts, who seek a holistic volume of information that is not only a technical treatise but also a source for answers to several questions on UAV manufacturers, users, major players in UAV research, costs, training required and logistics issues.

Download or read book Robot Operating System ROS written by Anis Koubaa and published by Springer. This book was released on 2017-05-25 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: This second volume is a continuation of the successful first volume of this Springer book, and as well as addressing broader topics it puts a particular focus on unmanned aerial vehicles (UAVs) with Robot Operating System (ROS). Consisting of three types of chapters: tutorials, cases studies, and research papers, it provides comprehensive additional material on ROS and the aspects of developing robotics systems, algorithms, frameworks, and applications with ROS. ROS is being increasingly integrated in almost all kinds of robots and is becoming the de-facto standard for developing applications and systems for robotics. Although the research community is actively developing applications with ROS and extending its features, amount of literature references is not representative of the huge amount of work being done. The book includes 19 chapters organized into six parts: Part 1 presents the control of UAVs with ROS, while in Part 2, three chapters deal with control of mobile robots. Part 3 provides recent work toward integrating ROS with Internet, cloud and distributed systems. Part 4 offers five case studies of service robots and field experiments. Part 5 presents signal-processing tools for perception and sensing, and lastly, Part 6 introduces advanced simulation frameworks. The diversity of topics in the book makes it a unique and valuable reference resource for ROS users, researchers, learners and developers.

Download or read book GNSS Global Navigation Satellite Systems written by Bernhard Hofmann-Wellenhof and published by Springer Science & Business Media. This book was released on 2007-11-20 with total page 537 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book extends the scientific bestseller "GPS - Theory and Practice" to cover Global Navigation Satellite Systems (GNSS) and includes the Russian GLONASS, the European system Galileo, and additional systems. The book refers to GNSS in the generic sense to describe the various existing reference systems for coordinates and time, the satellite orbits, the satellite signals, observables, mathematical models for positioning, data processing, and data transformation. This book is a university-level introductory textbook and is intended to serve as a reference for students as well as for professionals and scientists in the fields of geodesy, surveying engineering, navigation, and related disciplines.

Download or read book Spacecraft Formation Flying written by Kyle Alfriend and published by Elsevier. This book was released on 2009-11-16 with total page 403 pages. Available in PDF, EPUB and Kindle. Book excerpt: Space agencies are now realizing that much of what has previously been achieved using hugely complex and costly single platform projects—large unmanned and manned satellites (including the present International Space Station)—can be replaced by a number of smaller satellites networked together. The key challenge of this approach, namely ensuring the proper formation flying of multiple craft, is the topic of this second volume in Elsevier's Astrodynamics Series, Spacecraft Formation Flying: Dynamics, control and navigation. In this unique text, authors Alfriend et al. provide a coherent discussion of spacecraft relative motion, both in the unperturbed and perturbed settings, explain the main control approaches for regulating relative satellite dynamics, using both impulsive and continuous maneuvers, and present the main constituents required for relative navigation. The early chapters provide a foundation upon which later discussions are built, making this a complete, standalone offering. Intended for graduate students, professors and academic researchers in the fields of aerospace and mechanical engineering, mathematics, astronomy and astrophysics, Spacecraft Formation Flying is a technical yet accessible, forward-thinking guide to this critical area of astrodynamics. - The first book dedicated to spacecraft formation flying, written by leading researchers and professors in the field - Develops the theory from an astrodynamical viewpoint, emphasizing modeling, control and navigation of formation flying satellites on Earth orbits - Examples used to illustrate the main developments, with a sample simulation of a formation flying mission included to illustrate high fidelity modeling, control and relative navigation

Download or read book The DARPA Urban Challenge written by Martin Buehler and published by Springer. This book was released on 2009-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Download or read book Planning and Decision Making for Aerial Robots written by Yasmina Bestaoui Sebbane and published by Springer Science & Business Media. This book was released on 2014-01-10 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an introduction to the emerging field of planning and decision making for aerial robots. An aerial robot is the ultimate form of Unmanned Aerial Vehicle, an aircraft endowed with built-in intelligence, requiring no direct human control and able to perform a specific task. It must be able to fly within a partially structured environment, to react and adapt to changing environmental conditions and to accommodate for the uncertainty that exists in the physical world. An aerial robot can be termed as a physical agent that exists and flies in the real 3D world, can sense its environment and act on it to achieve specific goals. So throughout this book, an aerial robot will also be termed as an agent. Fundamental problems in aerial robotics include the tasks of spatial motion, spatial sensing and spatial reasoning. Reasoning in complex environments represents a difficult problem. The issues specific to spatial reasoning are planning and decision making. Planning deals with the trajectory algorithmic development based on the available information, while decision making determines priorities and evaluates potential environmental uncertainties. The issues specific to planning and decision making for aerial robots in their environment are examined in this book and categorized as follows: motion planning, deterministic decision making, decision making under uncertainty and finally multi-robot planning. A variety of techniques are presented in this book, and a number of relevant case studies are examined. The topics considered in this book are multidisciplinary in nature and lie at the intersection of Robotics, Control Theory, Operational Research and Artificial Intelligence.

Download or read book Developing Basic Space Science World Wide written by Willem Wamsteker and published by Springer Science & Business Media. This book was released on 2005-12-28 with total page 483 pages. Available in PDF, EPUB and Kindle. Book excerpt: ? J. Andersen Niels Bohr Institute for Astronomy Physics and Geophysics Astronomical Observatory Copenhagen [email protected] The development of astronomy worldwide begins at the roots: Already from childhood, humans of all nations and civilizations seem to share an innate fascination with the sky. Yet, people in different regions of the world have vastly different possibilities for pursuing this interest. In wealthy, industrialised societies the way is open to a school or higher education in science, possibly leading to a career in astronomy or basic or applied space science for the benefit of the country as well as the individual. In other regions, neither the financial nor the trained human resources are sufficient to offer that avenue to the future of the young generation, or those intellectual resources to the development of their country. This book addresses ways and means by which these obstacles can be, if not fully overcome, then at least significantly reduced.

Download or read book Shock Wave Boundary Layer Interactions written by Holger Babinsky and published by Cambridge University Press. This book was released on 2011-09-12 with total page 481 pages. Available in PDF, EPUB and Kindle. Book excerpt: Shock wave-boundary-layer interaction (SBLI) is a fundamental phenomenon in gas dynamics that is observed in many practical situations, ranging from transonic aircraft wings to hypersonic vehicles and engines. SBLIs have the potential to pose serious problems in a flowfield; hence they often prove to be a critical - or even design limiting - issue for many aerospace applications. This is the first book devoted solely to a comprehensive, state-of-the-art explanation of this phenomenon. It includes a description of the basic fluid mechanics of SBLIs plus contributions from leading international experts who share their insight into their physics and the impact they have in practical flow situations. This book is for practitioners and graduate students in aerodynamics who wish to familiarize themselves with all aspects of SBLI flows. It is a valuable resource for specialists because it compiles experimental, computational and theoretical knowledge in one place.

Download or read book Air Traffic Management and Systems written by Electronic Navigation Research Inst and published by Springer Science & Business Media. This book was released on 2014-03-12 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Electronic Navigation Research Institute (ENRI) held its third International Workshop on ATM / CNS in 2013 with the theme of "Drafting the future sky". There is worldwide activity taking place in the research and development of modern air traffic management (ATM) and its enabling technologies in Communication, Navigation and Surveillance (CNS). Pioneering work is necessary to contribute to the global harmonization of air traffic management and control. At this workshop, leading experts in research, industry and academia from around the world met to share their ideas and approaches on ATM/CNS related topics.