Urban Area Unmanned Aerial Systems Sensor Capabilities for Ensuring Ground Hazards Safety

Unmanned aerial systems (UASs) in urban areas can pose significant safety risks to dynamic ground objects (DGOs) such as people, pets, and bikes; especially for off-nominal emergency traverses and landings. This paper will examine a framework for evaluating the UAS safety benefits which can be achieved by classifying DGO hazards, modeling their behavior, and assigning collision costs. DGOs are assumed to be any ground objects which are either moving or capable of moving. Safety benefits will be assessed by analyzing metrics computed from UAS and DGO trajectories which take into account intent and uncertainties. This paper will establish the theoretical relationships mapping these trajectories and DGO classifications to safety levels. Sensor capabilities will be mapped to DGO trajectory uncertainties, so that safety can be directly estimated from the sensor specifications for a given UAS trajectory.