I
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n J
o
urna
l o
f
E
lect
rica
l En
g
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a
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Co
m
p
u
t
er
Science
Vo
l.
17
,
No
.
2
,
Feb
r
u
ar
y
20
20
,
p
p
.
7
6
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~
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t
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re
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ly
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n
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o
g
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re
la
x
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s
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o
m
m
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t
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a
n
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lp
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n
h
a
n
c
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g
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e
ra
l
m
issio
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ti
m
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s.
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is
p
a
p
e
r
p
re
se
n
ts
a
u
n
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u
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w
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s
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ar
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p
lat
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m
C
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y
s
te
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s
E
lectr
ical
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u
n
d
a
m
en
ta
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La
n
d
in
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UAV
Co
p
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rig
h
t
©
2
0
2
0
In
stit
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te o
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A
d
v
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g
i
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a
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d
S
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.
Al
l
rig
h
ts
re
se
rv
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d
.
C
o
r
r
e
s
p
o
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A
uth
o
r
:
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an
Z
u
h
a
W
a
n
Hasa
n
,
Dep
ar
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m
en
t o
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E
lectr
ical
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d
C
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p
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ter
E
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i
v
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w
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u
.
m
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1.
I
NT
RO
D
UCT
I
O
N
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i
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w
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g
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t
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tr
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Ver
tical
T
ak
e
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Of
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a
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d
L
a
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d
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g
(
VT
OL
)
U
n
m
a
n
n
ed
A
er
ial
Ve
h
icle
s
(
U
A
Vs
)
ar
e
b
ec
o
m
i
n
g
i
n
cr
ea
s
i
n
g
l
y
p
o
p
u
lar
.
T
h
ese
ae
r
ial
v
eh
icles
h
av
e
n
ea
r
l
y
li
m
i
tles
s
p
o
ten
ti
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b
ec
au
s
e
o
f
t
h
eir
co
m
p
ac
t
s
ize,
w
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ich
m
a
k
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m
a
f
f
o
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d
ab
le
in
co
s
t,
r
e
m
o
te
an
d
s
af
e
s
o
lu
tio
n
[
1
]
.
A
VT
OL
U
A
V
’
s
ar
e
id
ea
l
f
o
r
v
ar
io
u
s
ap
p
licatio
n
s
i
n
cl
u
d
in
g
s
u
r
v
eilla
n
ce
,
m
o
n
ito
r
in
g
,
an
d
co
u
r
ier
in
g
[
2]
.
UA
V
s
c
an
b
e
lo
ad
ed
w
it
h
v
ar
y
i
n
g
a
m
o
u
n
ts
;
t
y
p
ical
p
a
y
l
o
ad
s
in
cl
u
d
e
h
i
g
h
-
r
e
s
o
lu
tio
n
c
a
m
er
as,
li
k
e
i
n
f
r
ar
ed
ca
m
er
as,
an
d
o
th
er
s
en
s
o
r
s
.
No
tab
le
ap
p
licatio
n
s
f
o
r
th
ese
UA
V
s
i
n
clu
d
e
m
ed
ical
e
m
er
g
en
c
y
s
ce
n
ar
io
s
s
i
n
ce
t
h
e
U
AV
ca
n
b
e
eq
u
ip
p
ed
w
it
h
u
n
iq
u
e
e
l
ec
tr
o
n
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id
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n
ti
f
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er
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p
ar
atu
s
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d
p
r
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v
id
e
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m
ag
e
o
f
t
h
e
t
y
p
e
o
f
m
ed
ical
s
i
tu
atio
n
[
3
]
.
A
p
p
lied
in
f
o
r
est
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ir
e
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ce
n
ar
io
s
,
a
U
AV
ca
n
b
e
eq
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ip
p
ed
w
ith
f
ir
e
m
o
n
ito
r
i
n
g
an
d
f
ir
e
s
u
p
p
r
ess
i
o
n
eq
u
ip
m
en
t
[4
,
5]
,
w
h
ic
h
ca
n
aid
in
th
e
ef
f
o
r
ts
t
o
d
etec
t
ea
r
ly
f
ir
es
a
n
d
h
elp
w
it
h
t
h
e
p
la
n
to
s
u
p
p
r
ess
o
f
f
o
r
est
f
ir
es
a
t
cr
itica
l
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Vo
l.
17
,
No
.
2
,
Feb
r
u
ar
y
20
20
:
7
6
7
-
7
7
3
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p
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to
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tr
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tab
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w
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co
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r
o
p
er
atio
n
[6
,
7]
.
L
ith
i
u
m
-
io
n
ce
ll
s
o
r
b
atter
ies
ar
e
o
f
ten
o
n
-
b
o
ar
d
p
o
w
er
s
o
u
r
ce
s
,
b
u
t
t
h
e
s
e
h
i
g
h
-
p
o
wer
lith
i
u
m
b
atter
ie
s
ar
e
co
m
m
er
ciall
y
af
f
o
r
d
ab
le
to
allo
w
a
f
li
g
h
t
ti
m
e
o
f
ap
p
r
o
x
im
a
tel
y
2
0
–
4
0
m
i
n
u
te
s
.
[
8
,
9]
.
I
t
is
th
er
ef
o
r
e
o
b
v
io
u
s
t
h
at
a
m
u
lti
-
co
p
ter
is
r
eq
u
ir
ed
in
s
tan
t
l
y
a
f
ter
lan
d
in
g
to
e
x
ten
d
t
h
e
f
li
g
h
t
's
ti
m
e
o
f
o
p
er
atio
n
T
h
is
ch
ar
g
in
g
p
r
o
ce
d
u
r
e
tr
ad
itio
n
all
y
n
ee
d
s
d
ir
ec
t
h
u
m
an
in
ter
v
e
n
tio
n
an
d
ca
u
s
e
s
a
d
ela
y
b
ef
o
r
e
t
h
e
v
e
h
icle
ca
n
b
eg
in
ch
ar
g
i
n
g
.
T
o
d
ea
l
w
ith
th
is
d
ela
y
,
an
au
to
m
atic
ch
ar
g
e
p
r
o
ce
s
s
is
r
eq
u
ir
ed
af
t
er
th
e
m
u
lti
-
co
p
ter
lan
d
i
n
g
o
n
a
c
h
ar
g
in
g
s
tatio
n
.
th
e
s
o
l
u
tio
n
n
ee
d
s
to
s
tar
t
q
u
ick
c
h
ar
g
i
n
g
w
it
h
o
u
t
h
u
m
a
n
i
n
ter
f
er
e
n
ce
,
I
n
o
r
d
er
to
o
p
t
i
m
all
y
d
ec
r
ea
s
e
t
h
e
ch
ar
g
e
ti
m
e
Ot
h
er
tech
n
iq
u
es
ar
e
f
r
eq
u
en
tl
y
u
s
ed
to
ex
te
n
d
th
e
f
l
ig
h
t ti
m
e
[
1
0
]
an
d
to
o
f
f
er
ex
p
an
d
ed
task
s
:
a)
T
o
s
u
p
p
l
y
th
e
U
A
V
w
it
h
a
h
i
g
h
er
ca
p
ac
it
y
b
atter
y
,
b
u
t
t
h
i
s
ce
r
tain
l
y
i
n
cr
ea
s
es
w
ei
g
h
t
an
d
th
u
s
r
ed
u
ce
s
p
ay
lo
ad
,
o
r
w
h
ich
w
i
ll r
ed
u
ce
th
e
f
lig
h
t ti
m
e
o
f
t
h
e
U
A
V
[
1
1
]
.
b)
T
o
b
u
ild
a
d
o
ck
in
g
tec
h
n
iq
u
e
t
o
ex
ch
an
g
e
b
atter
ies a
u
to
m
a
ti
ca
ll
y
w
h
en
la
n
d
in
g
c)
[
1
2
,
13]
.
T
h
is
s
o
lu
tio
n
d
ec
r
ea
s
es
U
A
V
lan
d
i
n
g
ti
m
e
b
u
t
n
ee
d
s
ex
tr
a
co
m
p
lica
te
d
m
ec
h
a
n
ical
co
m
p
o
n
e
n
t
s
th
a
t in
cr
ea
s
e
co
s
t
s
an
d
r
en
d
er
th
e
s
o
l
u
tio
n
i
m
p
r
ac
tical
[
1
4
]
.
d)
T
o
tr
an
s
m
it
t
h
e
p
o
w
er
to
th
e
UAV
w
ir
eless
l
y
,
d
u
r
in
g
f
lig
h
t
m
is
s
io
n
[
1
5
]
.
On
e
o
f
th
e
s
u
g
g
ested
s
o
lu
tio
n
s
u
s
e
s
a
laser
b
ea
m
w
it
h
h
i
g
h
e
n
er
g
y
.
T
h
is
tech
n
iq
u
e
is
p
o
s
s
i
b
le
b
u
t
ex
p
en
s
i
v
e
to
u
s
e
b
ec
au
s
e
p
o
w
er
f
u
l
laser
e
m
i
s
s
io
n
s
tatio
n
s
ar
e
n
e
ce
s
s
ar
y
[
1
6
]
b
u
t
p
o
s
es
a
s
er
io
u
s
h
ea
lt
h
d
an
g
er
t
h
at
co
u
ld
h
ar
m
to
h
u
m
an
e
y
es
[
1
7
]
,
an
d
h
az
ar
d
a
b
r
ea
ch
o
f
th
e
L
a
s
er
Saf
et
y
I
n
itiat
iv
e
o
f
th
e
Fed
er
al
Av
iatio
n
A
d
m
i
n
is
tr
atio
n
(
FAA
)
[
1
8
]
.
e)
An
o
th
er
p
lau
s
ib
le
m
et
h
o
d
is
to
elec
tr
o
m
a
g
n
et
icall
y
tr
a
n
s
m
it
p
o
w
er
f
r
o
m
a
g
r
o
u
n
d
b
ase
to
th
e
UA
V
w
h
ile
i
n
f
li
g
h
t
[
1
9
]
,
Fo
r
UA
V
ap
p
s
,
th
e
s
e
s
y
s
te
m
s
m
a
y
b
e
o
m
n
id
ir
ec
tio
n
al
an
d
ap
p
ea
lin
g
.
Ho
w
e
v
er
,
it
is
s
u
s
ce
p
tib
le
to
en
v
ir
o
n
m
e
n
tal
m
iti
g
atio
n
an
d
en
er
g
y
e
f
f
icie
n
c
y
p
r
o
b
lem
s
[
2
0
]
.
f)
An
o
th
er
m
eth
o
d
o
f
w
ir
eles
s
p
o
w
er
tr
an
s
m
i
s
s
io
n
u
s
e
s
W
ir
eless
P
o
w
er
T
r
an
s
f
er
(
W
PT
)
tech
n
o
lo
g
y
.
W
P
T
is
a
p
o
p
u
lar
tech
n
iq
u
e
e
m
p
l
o
y
ed
i
n
m
a
n
y
lo
w
p
o
w
er
c
h
ar
g
i
n
g
ap
p
licatio
n
s
f
o
r
s
m
a
r
tp
h
o
n
es
an
d
elec
tr
o
n
ic
d
ev
ices a
n
d
w
o
r
k
s
a
t a
s
h
o
r
t
-
r
a
n
g
e
o
n
a
c
h
an
g
i
n
g
s
tatio
n
to
ch
ar
g
e
b
y
in
d
u
ctio
n
[
2
1
]
.
T
h
e
ap
p
lica
tio
n
o
f
W
PT
tech
n
o
lo
g
y
m
u
s
t
co
n
s
id
er
th
e
ae
r
o
d
y
n
a
m
ic
co
n
s
id
er
atio
n
s
o
f
t
h
e
o
n
b
o
ar
d
ch
ar
g
i
n
g
s
y
s
te
m
an
d
av
o
id
i
n
cr
ea
s
i
n
g
t
h
e
o
v
er
all
w
ei
g
h
t
o
f
th
e
air
cr
af
t.
A
l
s
o
,
th
e
W
PT
m
o
d
u
le
m
u
s
t
n
o
t
in
d
u
ce
i
n
ter
f
er
en
ce
w
it
h
o
th
er
elec
tr
o
n
ic
s
y
s
te
m
s
o
f
th
e
U
AV.
Fin
a
ll
y
,
th
e
W
P
T
tech
n
o
lo
g
y
m
u
s
t
g
u
ar
a
n
tee
ef
f
icien
t
p
o
w
er
tr
an
s
f
er
ev
en
w
it
h
a
h
i
g
h
a
co
il
m
is
a
lig
n
m
e
n
t
to
ler
an
ce
,
w
h
ic
h
ac
co
u
n
t
s
f
o
r
th
e
in
ac
cu
r
ac
ies
o
f
lan
d
in
g
[
2
2
,
23
]
.
A
s
tu
d
y
W
PT
tech
n
o
lo
g
y
p
r
esen
ted
in
[
2
4
]
d
ef
in
es
a
s
y
s
te
m
co
m
p
r
i
s
in
g
o
f
t
w
o
cir
cu
lar
p
lan
ar
s
p
ir
al
co
il
s
,
t
h
e
m
ai
n
d
is
ad
v
an
ta
g
es
o
f
t
h
at
co
n
f
i
g
u
r
atio
n
is
t
h
e
s
ig
n
i
f
ica
n
t
in
cr
e
ase
i
n
w
ei
g
h
t
a
n
d
p
h
y
s
ical
d
i
m
en
s
io
n
s
o
f
t
h
e
c
o
m
p
o
n
en
t
s
u
s
ed
.
T
h
at
s
y
s
te
m
r
ed
u
ce
d
th
e
p
a
y
lo
ad
ca
p
ac
ity
o
f
t
h
e
d
r
o
n
e
a
n
d
lar
g
e
co
m
p
o
n
e
n
t
s
co
m
p
r
o
m
i
s
ed
th
e
ae
r
o
d
y
n
a
m
ic
s
tab
ilit
y
o
f
th
e
U
A
V.
T
h
e
m
ax
i
m
u
m
W
P
T
ch
ar
g
in
g
ef
f
icien
c
y
i
s
d
is
c
u
s
s
ed
i
n
an
o
t
h
er
ar
ticle
[
2
5
]
,
th
at
ar
ticle
r
ep
o
r
ted
an
ef
f
icie
n
c
y
o
f
6
3
.
4
%,
w
h
ich
v
ar
ied
w
it
h
ti
m
e.
Ho
w
e
v
er
,
an
o
th
er
ar
ticle
[
2
6
]
r
ep
o
r
ted
ex
p
er
im
e
n
ts
a
b
etter
p
er
f
o
r
m
a
n
ce
w
it
h
a
W
P
T
s
y
s
te
m
ac
h
ie
v
i
n
g
a
7
5
% c
h
ar
g
in
g
e
f
f
ic
ien
c
y
.
Ma
s
s
ac
h
u
s
etts
i
n
s
tit
u
te
of
tec
h
n
o
lo
g
y
r
e
s
ea
r
ch
er
s
[
1
6
]
an
d
E
T
H
Z
u
r
ich
h
a
v
e
d
e
v
e
lo
p
ed
an
in
d
ep
en
d
en
t
co
n
tact
r
ec
h
ar
g
e
s
tatio
n
f
o
r
U
A
V
s
.
T
h
is
c
h
a
r
g
e
s
o
l
u
t
io
n
i
n
v
o
l
v
es
co
n
tact
w
it
h
m
ec
h
a
n
ica
l
elec
tr
o
d
es
an
d
t
h
e
U
A
V
m
u
s
t
lan
d
o
n
an
ac
c
u
r
ate
m
an
n
er
o
n
t
h
e
c
h
ar
g
in
g
s
tatio
n
,
w
h
ic
h
u
lti
m
atel
y
in
cr
ea
s
e
s
th
e
co
n
tr
o
l
co
m
p
le
x
it
y
a
n
d
th
er
ef
o
r
e
af
f
ec
ts
t
h
e
co
s
t
s
o
f
t
h
e
en
tire
s
y
s
te
m
[
2
7
]
.
T
h
e
s
y
s
t
e
m
u
tili
ze
s
a
Vico
n
C
a
m
er
a
S
y
s
te
m
w
h
ic
h
p
r
o
v
id
es
p
r
ec
is
e
U
AV
a
n
d
g
r
o
u
n
d
s
tatio
n
p
o
s
itio
n
i
n
f
o
r
m
atio
n
,
H
o
w
e
v
er
,
w
e
s
h
o
u
ld
r
ec
o
g
n
iz
e
t
h
at
th
e
Vico
n
C
a
m
er
a
S
y
s
te
m
ca
n
n
o
t
b
e
u
s
ed
o
u
ts
id
e
a
n
d
t
h
at,
i
n
s
tead
,
GP
S
s
e
n
s
o
r
s
s
h
o
u
ld
b
e
u
s
ed
d
esp
ite
in
h
er
e
n
t
p
o
s
iti
o
n
m
is
ta
k
e
s
[
2
8
]
.
T
h
ese
b
asic
GP
S
s
en
s
o
r
m
i
s
ta
k
e
[
2
9
]
ca
u
s
e
p
r
o
b
lem
s
w
it
h
p
latf
o
r
m
d
o
ck
i
n
g
a
n
d
th
er
e
f
o
r
e
in
cr
ea
s
e
th
e
p
r
o
b
ab
ilit
y
o
f
t
h
e
f
ail
u
r
e
r
ec
h
ar
g
i
n
g
.
A
co
n
tr
ac
t
-
b
ased
s
o
lu
tio
n
allo
w
s
h
i
g
h
p
o
w
er
tr
a
n
s
f
er
ef
f
icie
n
c
y
,
b
u
t
o
n
e
m
aj
o
r
d
r
aw
b
ac
k
o
f
co
n
tact
-
b
ased
ch
ar
g
i
n
g
is
th
e
r
eq
u
ir
em
en
t
to
p
r
ec
is
el
y
la
n
d
o
n
t
h
e
ch
ar
g
i
n
g
s
ta
tio
n
a
n
d
t
h
e
m
e
ch
an
ica
l
s
y
s
te
m
in
o
r
d
er
to
m
a
k
e
co
n
tact
w
it
h
th
e
elec
tr
o
d
es
to
en
ab
le
co
n
d
u
c
tio
n
,
w
h
ich
ev
e
n
t
u
all
y
i
n
cr
ea
s
es
t
h
e
co
n
tr
o
l
a
n
d
co
m
p
le
x
it
y
a
n
d
co
s
t
[
3
0
,
3
1
]
.
Fu
r
th
er
m
o
r
e,
ac
cu
r
ate
UA
V
la
n
d
in
g
is
o
f
te
n
ch
alle
n
g
i
n
g
ev
e
n
w
i
th
a
s
o
p
h
is
ticated
tar
g
eti
n
g
s
y
s
te
m
,
as
t
h
at
s
y
s
te
m
m
u
s
t
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en
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o
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e
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ts
[
2
7
,
29]
.
T
h
is
p
ap
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o
f
f
er
s
an
alter
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ati
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ch
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it.
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h
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y
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te
m
e
n
h
a
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ce
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th
e
a
u
to
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ter
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d
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r
s
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ad
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p
ter
a
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is
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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N:
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mp
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l
y
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f
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i
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.
T
h
e
d
r
o
n
e
ca
n
lan
d
in
an
y
d
ir
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tio
n
w
it
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it
s
s
k
id
s
i
n
to
u
c
h
w
ith
t
h
e
p
lat
f
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m
.
C
h
ar
g
i
n
g
b
eg
i
n
s
au
to
m
at
icall
y
w
it
h
o
u
t
h
u
m
a
n
i
n
ter
f
er
e
n
ce
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
is
w
o
r
k
o
f
f
er
s
a
s
o
lu
tio
n
to
UAV
'
s
r
ec
h
ar
g
e
s
y
s
te
m
u
n
ce
r
t
ain
t
y
t
h
r
o
u
g
h
d
ir
ec
t
in
ter
ac
tio
n
w
ith
t
h
e
g
r
o
u
n
d
ch
ar
g
e
p
lat
f
o
r
m
co
n
f
i
g
u
r
ed
a
s
a
c
h
e
s
s
b
o
ar
d
w
ith
a
s
u
cc
ess
iv
e
co
p
p
er
p
latf
o
r
m
w
it
h
p
o
s
iti
v
e
a
n
d
n
eg
at
iv
e
p
o
lar
itie
s
.
T
h
e
p
latf
o
r
m
ca
n
b
e
p
o
w
er
ed
b
y
t
w
o
e
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er
g
y
s
o
u
r
ce
s
:
in
d
o
o
r
s
b
y
D
C
a
d
ap
ter
s
o
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o
u
td
o
o
r
s
b
y
a
s
o
lar
p
an
el.
T
h
e
p
r
i
m
ar
y
p
ar
ts
o
f
th
e
s
y
s
te
m
ar
e
s
h
o
w
n
in
Fi
g
u
r
e
1
.
Fig
u
r
e
1
.
Ma
in
s
y
s
te
m
co
m
p
o
n
en
t
s
2
.
1
.
P
a
d Ar
ea
Ca
lcula
t
io
n
A
r
ep
ea
tab
ilit
y
test
o
f
t
h
e
U
AV
lan
d
in
g
h
as b
ee
n
ca
r
r
ied
o
u
t in
t
h
e
co
u
r
s
e
o
f
2
0
atte
m
p
ts
t
o
s
p
ec
if
y
t
h
e
r
eg
io
n
o
f
th
e
ch
ar
g
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n
g
p
ad
.
th
e
lan
d
in
g
lo
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is
m
ar
k
ed
a
f
ter
ea
ch
f
li
g
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t
to
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cir
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m
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T
h
e
ai
m
o
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is
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ated
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g
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2
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Fig
u
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2
.
C
h
ar
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r
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s
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4752
I
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J
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&
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p
Sci,
Vo
l.
17
,
No
.
2
,
Feb
r
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ar
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20
20
:
7
6
7
-
7
7
3
770
2
.
2
.
On
-
B
o
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rd
Circ
uit
Dia
g
ra
m
A
f
o
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r
co
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tac
t
p
in
s
ar
e
co
n
n
ec
ted
to
th
e
p
o
lar
it
y
m
o
d
u
lat
o
r
cir
cu
it,
o
n
e
f
o
r
ea
ch
le
g
o
f
th
e
d
r
o
n
e.
Six
d
io
d
e
r
ec
ti
f
ier
s
ar
e
e
m
p
lo
y
ed
,
all
p
o
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v
e
co
n
n
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ted
at
o
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e
ter
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i
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m
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t
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o
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n
p
u
t
ter
m
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al
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lin
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t
h
e
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o
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r
d
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in
s
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b
ab
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f
p
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y
ad
j
u
s
t
m
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t.
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h
e
t
w
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o
u
tp
u
t
ter
m
i
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als
a
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co
n
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cted
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h
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ai
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er
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a
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n
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b
atter
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o
f
t
h
e
d
r
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e.
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h
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co
n
f
ig
u
r
atio
n
d
ia
g
r
a
m
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
is
s
h
o
w
n
in
Fi
g
u
r
e
3
.
Fig
u
r
e
3
s
h
o
w
s
th
e
d
io
d
e
b
r
id
g
e
s
et
u
p
,
T
h
e
co
n
f
i
g
u
r
atio
n
d
esi
g
n
o
f
th
is
co
m
p
o
n
e
n
t
o
p
er
ates
to
s
u
p
p
l
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s
in
g
le
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lar
it
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c
h
ar
g
in
g
s
i
g
n
a
l
to
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h
e
d
r
o
n
e
b
atter
y
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eg
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d
les
s
o
f
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h
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d
r
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e
an
g
le
o
f
la
n
d
in
g
,
th
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n
u
m
b
er
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n
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p
in
s
t
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at
s
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ld
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e
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n
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v
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t
h
e
ch
ar
g
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g
p
r
o
ce
s
s
is
r
estricte
d
b
et
w
ee
n
(
2
-
4
)
,
Ho
w
e
v
er
,
if
e
ac
h
p
in
h
as
a
p
o
s
iti
v
e
o
r
n
eg
ativ
e
p
o
lar
it
y
.
T
h
e
v
o
lta
g
e
at
th
e
d
r
o
n
e
b
atter
y
ter
m
i
n
als
w
a
s
ad
ap
ted
to
a
r
ate
eq
u
al
to
its
co
m
p
lete
c
h
a
r
g
e
v
o
lta
g
e
co
n
s
id
er
in
g
t
h
e
d
r
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p
v
o
ltag
e
o
f
t
h
e
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o
r
w
ar
d
d
io
d
es.
Fig
u
r
e
4
s
h
o
w
s
t
h
e
ex
p
er
i
m
en
tal
co
n
f
ig
u
r
atio
n
o
f
th
e
p
r
o
p
o
s
ed
f
r
am
e
w
o
r
k
.
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h
is
s
y
s
te
m
s
etu
p
is
d
esi
g
n
ed
to
o
v
er
co
m
e
m
is
ali
g
n
m
en
t
cir
c
u
m
s
ta
n
ce
s
d
u
e
to
lan
d
in
g
d
ef
ec
t.
Dr
o
n
e
lan
d
in
g
ac
cu
r
ac
y
i
s
d
if
f
ic
u
lt
to
ac
h
ie
v
e
b
ec
au
s
e
o
f
th
e
v
ar
iab
ilit
y
o
f
th
e
e
n
v
ir
o
n
m
e
n
t
a
n
d
th
e
f
li
g
h
t
co
m
p
en
s
atio
n
r
eq
u
ir
ed
d
ep
en
d
s
u
p
o
n
th
e
ac
cu
r
ac
y
o
f
th
e
lan
d
i
n
g
as
s
is
ta
n
ce
s
y
s
te
m
.
T
h
e
o
n
-
b
o
ar
d
elec
tr
o
n
ic
s
ett
in
g
s
ar
e
o
p
ti
m
ized
to
d
ec
r
ea
s
e
th
e
co
m
p
o
n
e
n
t
weig
h
t,
w
h
ic
h
r
ed
u
ce
s
co
m
p
le
x
it
y
a
n
d
co
s
t
s
.
I
n
o
r
d
er
to
d
ec
r
ea
s
e
t
h
e
w
ei
g
h
t
o
f
th
e
U
A
V,
b
atter
y
c
h
ar
g
i
n
g
is
r
eg
u
la
ted
at
th
e
g
r
o
u
n
d
s
tat
io
n
.
Fig
u
r
e
3
.
A
co
n
f
i
g
u
r
atio
n
d
iag
r
a
m
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
.
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
Du
e
to
t
h
e
lan
d
i
n
g
to
ler
an
ce
,
t
h
is
s
et
u
p
av
o
id
s
an
y
m
i
s
alig
n
m
en
t
cir
cu
m
s
tan
ce
s
.
T
h
is
asp
ec
t
is
cr
itical
in
o
u
td
o
o
r
d
r
o
n
e
ap
p
s
as
lan
d
in
g
ac
c
u
r
ac
y
i
s
d
if
f
ic
u
lt
to
a
cc
o
m
p
li
s
h
o
w
in
g
to
v
ar
iab
ilit
y
in
e
n
v
ir
o
n
m
e
n
tal
cir
cu
m
s
ta
n
ce
s
an
d
i
n
tr
i
n
s
ic
i
n
ac
cu
r
ac
ie
s
o
f
lan
d
i
n
g
s
u
p
p
o
r
t
s
y
s
te
m
s
.
T
h
e
elec
tr
o
n
ic
cir
cu
its
o
n
b
o
ar
d
ar
e
o
p
tim
ized
to
d
ec
r
ea
s
e
w
ei
g
h
t,
cir
cu
it
co
m
p
lex
it
y
,
a
n
d
co
s
t.
T
h
e
b
atter
y
ch
ar
g
e
r
eg
u
latio
n
is
ca
r
r
ied
o
u
t
o
n
th
e
s
id
e
o
f
th
e
s
u
p
p
l
y
(
g
r
o
u
n
d
s
ta
tio
n
)
to
d
ec
r
ea
s
e
p
a
y
lo
ad
an
d
s
ize
o
f
t
h
e
o
n
b
o
ar
d
eq
u
ip
m
e
n
t.
T
h
e
p
r
o
b
ab
ilit
ies
o
f
th
e
n
u
m
b
er
o
f
lan
d
i
n
g
s
(
P
c)
ca
n
b
e
d
is
p
lay
ed
:
=
4
!
=
2
4
.
W
h
er
e
th
e
d
is
co
n
n
ec
tio
n
p
in
o
cc
u
r
r
en
ce
s
ar
e
ex
clu
s
i
v
e,
th
at
r
ep
r
esen
t th
e
la
n
d
in
g
o
n
t
h
e
ch
e
s
s
-
p
ad
w
it
h
le
s
s
t
h
an
4
co
n
tact
s
.
3
.
1
.
Cha
r
g
ing
Ana
ly
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I
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N
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17
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2
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Feb
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4.
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it
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P
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tr
a
Ma
la
y
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(
UP
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)
f
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p
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s
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w
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d
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FR
G
S
Gr
an
t
(
5
5
4
0
0
7
6
)
an
d
Kem
e
n
ter
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P
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ar
an
Ma
la
y
s
ia
(
K
P
M)
an
d
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n
s
tit
u
te
o
f
A
d
v
an
ce
d
T
ec
h
n
o
lo
g
y
(
I
T
MA
)
in
w
h
ic
h
t
h
is
w
o
r
k
w
a
s
p
o
s
s
i
b
le.
RE
F
E
R
E
NC
E
S
[1
]
M
.
Ha
ss
a
n
a
li
a
n
a
n
d
A
.
A
b
d
e
lk
e
f
i
,
“
Clas
sif
ic
a
ti
o
n
s,
a
p
p
li
c
a
ti
o
n
s
,
a
n
d
d
e
sig
n
c
h
a
ll
e
n
g
e
s
o
f
d
ro
n
e
s: A
re
v
ie
w
,
”
Pro
g
.
Aer
o
sp
.
S
c
i.
,
v
o
l
.
9
1
,
p
p
.
9
9
-
1
3
1
,
A
p
ril
,
2
0
1
7
.
[2
]
H.
Kim
,
L
.
M
o
k
d
a
d
,
a
n
d
J.
Be
n
-
Oth
m
a
n
,
“
De
sig
n
in
g
U
A
V
S
u
rv
e
i
ll
a
n
c
e
F
ra
m
e
w
o
rk
s
f
o
r
S
m
a
rt
Cit
y
a
n
d
Ex
ten
siv
e
Oc
e
a
n
w
it
h
Diffe
re
n
ti
a
l
P
e
rsp
e
c
ti
v
e
s,”
IEE
E
Co
mm
u
n
.
M
a
g
.
,
v
o
l.
5
6
,
n
o
.
4
,
p
p
.
9
8
-
1
0
4
,
2
0
1
8
.
[3
]
M
.
S
u
p
p
o
rt
a
n
d
I
.
By
,
“
(
1
2
)
U
n
it
e
d
S
tate
s
P
a
ten
t
(
4
5
)
Da
te o
f
P
a
t
e
n
t :
,
”
v
o
l.
1
,
n
o
.
1
2
,
2
0
1
6
.
[4
]
C.
Yu
a
n
,
Y.
Zh
a
n
g
,
a
n
d
Z.
L
iu
,
“
A
su
rv
e
y
o
n
tec
h
n
o
lo
g
ies
f
o
r
a
u
to
m
a
ti
c
f
o
re
st
f
ire
m
o
n
it
o
rin
g
,
d
e
tec
t
io
n
,
a
n
d
f
ig
h
ti
n
g
u
sin
g
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s
a
n
d
re
m
o
te
se
n
sin
g
t
e
c
h
n
iq
u
e
s,”
Ca
n
.
J
.
Fo
r.
Res
.
,
v
o
l.
4
5
,
n
o
.
7
,
p
p
.
7
8
3
-
7
9
2
,
2
0
1
5
.
[5
]
K.
P
.
V
a
lav
a
n
is
a
n
d
G
.
J.
V
a
c
h
ts
e
v
a
n
o
s,
“
Ha
n
d
b
o
o
k
o
f
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s,”
Ha
n
d
b
.
Un
ma
n
n
e
d
Aer
.
Veh
.
,
p
p
.
1
-
3
0
2
2
,
2
0
1
5
.
[6
]
C.
H.
Ch
o
i,
H.
J.
Ja
n
g
,
S
.
G
.
L
i
m
,
H.
C.
L
i
m
,
S
.
H.
Ch
o
,
a
n
d
I.
G
a
p
o
n
o
v
,
“
A
u
to
m
a
ti
c
w
irele
ss
d
ro
n
e
c
h
a
rg
in
g
sta
ti
o
n
c
re
a
ti
n
g
e
ss
e
n
ti
a
l
e
n
v
ir
o
n
m
e
n
t
f
o
r
c
o
n
ti
n
u
o
u
s
d
ro
n
e
o
p
e
ra
ti
o
n
,
”
2
0
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n
t.
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o
n
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.
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f
.
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c
i
.
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0
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p
.
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3
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-
1
3
6
,
2
0
1
7
.
[7
]
T
.
Die
tri
c
h
,
S
.
Kru
g
,
a
n
d
A
.
Z
imm
e
r
m
a
n
n
,
“
A
n
e
m
p
iri
c
a
l
stu
d
y
o
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e
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ric
m
u
lt
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ter
e
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e
rg
y
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o
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su
m
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ti
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n
p
ro
f
il
e
s,”
1
1
t
h
A
n
n
u
.
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EE
In
t.
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y
st.
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n
f.
S
y
sCo
n
2
0
1
7
-
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c
.
,
2
0
1
7
.
[8
]
P
.
S
a
ru
n
ic
a
n
d
R.
Ev
a
n
s,
“
Hie
ra
rc
h
ica
l
m
o
d
e
l
p
re
d
ictiv
e
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o
n
tr
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l
o
f
UA
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p
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rf
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r
m
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g
m
u
lt
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a
rg
e
t
-
m
u
lt
ise
n
so
r
trac
k
in
g
,
”
IEE
E
T
ra
n
s.
Aer
o
sp
.
E
lec
tro
n
.
S
y
st.
,
v
o
l.
5
0
,
n
o
.
3
,
p
p
.
2
2
5
3
-
2
2
6
8
,
2
0
1
4
.
[9
]
B.
L
e
e
,
S
.
K
w
o
n
,
P
.
P
a
rk
,
a
n
d
K.
Kim
,
“
A
c
ti
v
e
p
o
w
e
r
m
a
n
a
g
e
m
e
n
t
s
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ste
m
f
o
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m
a
n
n
e
d
a
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rial
v
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h
icle
p
o
w
e
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d
b
y
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lar ce
ll
s,
a
f
u
e
l
c
e
ll
,
a
n
d
b
a
tt
e
ries
,
”
IEE
E
T
ra
n
s.
Aer
o
sp
.
El
e
c
t
ro
n
.
S
y
st.
,
v
o
l
.
5
0
,
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o
.
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p
.
3
1
6
7
-
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1
7
7
,
2
0
1
4
.
[1
0
]
D.
R.
Da
le,
“
A
u
to
m
a
ted
G
ro
u
n
d
M
a
in
te
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a
n
c
e
a
n
d
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lt
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a
n
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g
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m
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f
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r
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to
n
o
m
o
u
s
Un
m
a
n
n
e
d
A
e
rial
V
e
h
icle
s,”
S
.
B.
P
h
y
s.
,
n
o
.
2
0
0
6
,
2
0
0
6
.
[1
1
]
K.
Ne
it
z
k
e
,
“
Ro
tar
y
W
in
g
M
icro
A
ir
V
e
h
icle
En
d
u
ra
n
c
e
.
”
[1
2
]
D.
L
e
e
,
J.
Zh
o
u
,
a
n
d
W
.
T
.
L
in
,
“
A
u
to
n
o
m
o
u
s b
a
tt
e
ry
s
wa
p
p
in
g
s
y
ste
m
f
o
r
q
u
a
d
c
o
p
t
e
r,
”
2
0
1
5
In
t
.
Co
n
f.
U
n
ma
n
n
e
d
Ai
rc
r.
S
y
st.
ICUAS
2
0
1
5
,
p
p
.
1
1
8
-
1
2
4
,
2
0
1
5
.
[1
3
]
K.
A
.
O.
S
u
z
u
k
i,
P
.
Ke
m
p
e
r
F
il
h
o
,
a
n
d
J.
R
.
M
o
rr
iso
n
,
“
A
u
to
m
a
ti
c
b
a
tt
e
r
y
re
p
lac
e
m
e
n
t
s
y
ste
m
f
o
r
UA
V
s:
A
n
a
l
y
sis
a
n
d
d
e
sig
n
,
”
J
.
In
tell.
Ro
b
o
t.
S
y
st.
T
h
e
o
ry
A
p
p
l
.
,
v
o
l.
6
5
,
n
o
.
1
-
4
,
p
p
.
5
6
3
-
5
8
6
,
2
0
1
2
.
[1
4
]
S
.
Ju
n
g
,
T
.
L
e
e
,
T
.
M
in
a
,
a
n
d
K.
B.
A
ri
y
u
r,
“
In
d
u
c
ti
v
e
o
r
M
a
g
n
e
ti
c
Re
c
h
a
rg
in
g
f
o
r
S
m
a
ll
U
A
V
s,”
n
o
.
A
p
ril
2
0
1
6
,
2
0
1
2
.
[1
5
]
T
.
Nu
g
e
n
t
a
n
d
J.
Ka
re
,
“
L
a
se
r
p
o
w
e
r
f
o
r
U
A
V
s,”
L
a
se
r M
o
ti
v
.
W
h
i
te P
a
p
.
,
p
p
.
1
–
9
,
2
0
1
0
.
[1
6
]
N.
K.
Ure
,
G
.
C
h
o
w
d
h
a
ry
,
T
.
T
o
k
so
z
,
J.
P
.
Ho
w
,
M
.
A
.
V
a
v
rin
a
,
a
n
d
J.
Via
n
,
“
A
n
a
u
to
m
a
ted
b
a
tt
e
ry
m
a
n
a
g
e
m
e
n
t
s
y
ste
m
to
e
n
a
b
le
p
e
rsiste
n
t
m
is
sio
n
s
w
it
h
m
u
lt
ip
le
a
e
rial
v
e
h
icle
s,
”
IEE
E/
AS
M
E
T
ra
n
s.
M
e
c
h
a
tro
n
i
c
s
,
v
o
l.
2
0
,
n
o
.
1
,
p
p
.
2
7
5
-
2
8
6
,
2
0
1
5
.
[1
7
]
T
.
J.
Nu
g
e
n
t,
Jr.
a
n
d
J
.
T
.
Ka
re
,
“
L
a
s
e
r
p
o
w
e
r
b
e
a
m
in
g
f
o
r
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f
e
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a
n
d
se
c
u
rit
y
a
p
p
li
c
a
ti
o
n
s,” p
.
8
0
4
5
1
4
,
2
0
1
1
.
[1
8
]
O
m
a
r
I.
Da
ll
a
l
B
a
sh
i,
W
.
Z.
W
a
n
Ha
sa
n
,
N.
Az
is,
S
.
S
h
a
f
ie
a
n
d
Hiro
a
k
i
W
a
g
a
tsu
m
a
,
“
A
u
to
n
o
m
o
u
s
Qu
a
d
c
o
p
ter
A
lt
it
u
d
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f
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r
M
e
a
su
rin
g
Risk
y
Ga
se
s
in
H
a
z
a
rd
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re
a
”
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o
u
rn
a
l
o
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lec
o
mm
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n
ica
ti
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n
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tro
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a
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o
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ter
En
g
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rin
g
,
p
p
.
31
-
3
4
,
2
0
1
8
[1
9
]
T
.
Ca
m
p
i,
S
.
Cru
c
ian
i
,
a
n
d
M
.
F
e
li
z
ian
i,
“
W
irele
ss
P
o
w
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r
T
ra
n
s
f
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c
h
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p
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to
a
n
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u
to
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s
El
e
c
tri
c
UA
V
w
it
h
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S
m
a
ll
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,
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e
rg
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,
v
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l
.
1
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o
.
2
,
p
p
.
3
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2
,
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0
1
8
.
[2
0
]
C.
S
o
n
g
e
t
a
l.
,
“
EM
I
Re
d
u
c
ti
o
n
M
e
th
o
d
s
in
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ss
P
o
w
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ra
n
sf
e
r
S
y
ste
m
f
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n
e
El
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c
tri
c
a
l
Ch
a
rg
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r
Us
in
g
T
ig
h
tl
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Co
u
p
led
T
h
re
e
-
P
h
a
se
Re
so
n
a
n
t
M
a
g
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e
ti
c
F
ield
,
”
I
E
EE
T
ra
n
s.
I
n
d
.
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c
tro
n
.
,
v
o
l
.
6
5
,
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.
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,
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p
.
6
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8
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9
,
2
0
1
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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[2
1
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A
.
Ku
rs,
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.
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ra
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s,
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ff
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tt
,
J.
D
.
Jo
a
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F
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e
r,
a
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a
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:
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[2
2
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G
.
a
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Co
v
ic an
d
J.
T
.
Bo
y
s,
“
In
d
u
c
ti
v
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P
o
w
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r
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ra
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s
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r,
”
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c
.
IEE
E
,
v
o
l.
1
0
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,
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p
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1
2
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9
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0
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3
.
[2
3
]
N.
S
h
i
n
o
h
a
ra
,
“
P
o
w
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r
W
it
h
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,
”
IEE
E
M
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o
w.
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g
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v
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l
.
1
2
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o
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p
p
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6
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0
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1
.
[2
4
]
T
.
Ca
m
p
i,
F
.
Dio
n
isi,
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.
Cru
c
ian
i,
V
.
De
S
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.
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ian
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d
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i,
“
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p
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.
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5
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.
M
u
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m
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Ch
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In
ter
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Ap
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ti
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s (
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A),
2
0
1
8
.
[2
5
]
A
.
Bin
Ju
n
a
id
,
Y.
L
e
e
,
a
n
d
Y.
Kim
,
“
De
si
g
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a
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p
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m
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tatio
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tary
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w
in
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U
A
V
s,”
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o
sp
.
S
c
i.
T
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c
h
n
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l
.
,
v
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l
.
5
4
,
p
p
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2
5
3
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2
6
6
,
2
0
1
6
.
[2
6
]
A
.
Bin
Ju
n
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id
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A
.
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n
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o
,
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Z
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.
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a
h
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k
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,
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L
.
S
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n
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v
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e
,
“
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u
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v
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h
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rg
ies
,
v
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l.
1
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.
6
,
p
p
.
1
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4
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.
[2
7
]
J.
L
e
o
n
a
rd
,
A
.
S
a
v
v
a
ris,
a
n
d
A
.
Tso
u
rd
o
s,
“
En
e
rg
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M
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m
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n
t
in
S
w
a
r
m
o
f
Un
m
a
n
n
e
d
Ae
rial
V
e
h
icle
s,”
J
.
In
tell.
Ro
b
o
t.
S
y
st.
,
v
o
l
.
7
4
,
n
o
.
1
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p
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2
3
3
-
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5
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0
1
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