Research

Flapping Wing Modelling

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Model identification of small flapping wing vehicles with unsteady aerodynamics requires new approaches.

Publications

2014

  • S. Armanini, J. Verboom, G. {de Croon}, and C. {de Visser}, “Determination of trim curves for a flapping-wing mav,” in Proceedings of the international micro air vehicle conference and competition imav 2014, Netherlands, 2014, p. 212–217.
    [Bibtex] 
    @inproceedings{68527db5634746e7869772e05ba1fcf6,
address = {Netherlands},
author = {SF Armanini and JL Verboom and {de Croon}, GCHE and {de Visser}, CC},
booktitle = {Proceedings of the International micro air vehicle conference and competition IMAV 2014},
editor = {{de Croon}, GCHE and {van Kampen}, E and {de Wagter}, C and {de Visser}, CC},
keywords = {Conf.proc. > 3 pag},
language = {English},
note = {The International micro air vehicle conference and competition IMAV 2014 ; Conference date: 12-08-2014 Through 15-08-2014},
pages = {212--217},
publisher = {Delft University of Technology},
title = {Determination of trim curves for a flapping-wing MAV},
url = {https://research.tudelft.nl/en/publications/determination-of-trim-curves-for-a-flapping-wing-mav},
year = {2014}
}

2015

  • [DOI] S. Armanini, C. {de Visser}, and G. {de Croon}, “Black-box lti modelling of flapping-wing micro aerial vehicle dynamics,” in Proceedings of the aiaa atmospheric flight mechanics conference, United States, 2015, p. 1–16.
    [Bibtex] 
    @inproceedings{e9a24caab465439bb0d34d68e0d0a6fa,
address = {United States},
author = {SF Armanini and {de Visser}, CC and {de Croon}, GCHE},
booktitle = {Proceedings of the AIAA atmospheric flight mechanics conference},
doi = {10.2514/6.2015-0234},
editor = {s.n.},
isbn = {978-1-62410-340-7},
language = {English},
note = {harvest AIAA 2015-0234; AIAA atmospheric flight mechanics conference, Kissimmee, USA ; Conference date: 05-01-2015 Through 09-01-2015},
pages = {1--16},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics},
url = {https://research.tudelft.nl/en/publications/black-box-lti-modelling-of-flapping-wing-micro-aerial-vehicle-dyn},
year = {2015}
}
  • J. {Aguiar Vieira Caetano}, S. Armanini, C. {de Visser}, G. {de Croon}, and M. Mulder, “Data-informed quasi-steady aerodynamic model of a clap-and-fling flapping wing mav,” in Proceedings of the international conference on intelligent unmanned systems, 2015, p. 1–6.
    [Bibtex] 
    @inproceedings{905d04e8df18434f829aaa32762612b5,
author = {{Aguiar Vieira Caetano}, JV and SF Armanini and {de Visser}, CC and {de Croon}, GCHE and M Mulder},
booktitle = {Proceedings of the international conference on intelligent unmanned systems},
editor = {B Riyanto and A Budiyono},
language = {English},
note = {International conference on intelligent unmanned systems, ICIUS 2015, Bali, Indonesia ; Conference date: 26-08-2015 Through 29-08-2015},
pages = {1--6},
publisher = {s.n.},
title = {Data-informed quasi-steady aerodynamic model of a clap-and-fling flapping wing MAV},
url = {https://research.tudelft.nl/en/publications/data-informed-quasi-steady-aerodynamic-model-of-a-clap-and-fling-},
year = {2015}
}
  • S. Armanini, M. Polak, J. Gautrey, A. Lucas, and J. Whidborne, “Decision-making for unmanned flight in icing conditions,” in Proceedings of the 5th ceas air and space conference, ceas 2015, 2015, p. 1–15.
    [Bibtex] 
    @inproceedings{d91fd768737a483e9fea088caed913e1,
author = {SF Armanini and M Polak and JE Gautrey and A Lucas and JF Whidborne},
booktitle = {Proceedings of the 5th CEAS air and space conference, CEAS 2015},
editor = {F Abbink and C Hermans},
isbn = {978-1-906913-20-5},
language = {English},
note = {5th CEAS air and space conference, CEAS 2015 ; Conference date: 07-09-2015 Through 11-09-2015},
pages = {1--15},
publisher = {NVvL},
title = {Decision-making for unmanned flight in icing conditions},
url = {https://research.tudelft.nl/en/publications/decision-making-for-unmanned-flight-in-icing-conditions},
year = {2015}
}

2016

  • [DOI] M. Karasek, A. Koopmans, S. Armanini, B. Remes, and G. {de Croon}, “Free flight force estimation of a 23.5 g flapping wing mav using an on-board imu,” in Proceedings of the 2016 ieee/rsj international conference on intelligent robots and systems (iros), United States, 2016.
    [Bibtex] 
    @inproceedings{86fe1a5d6b564ae9ba41244e730860c2,
address = {United States},
author = {Matej Karasek and Andries Koopmans and Sophie Armanini and Bart Remes and {de Croon}, Guido},
booktitle = {Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
doi = {10.1109/IROS.2016.7759729},
isbn = {978-1-5090-3762-9},
language = {English},
note = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016},
publisher = {IEEE },
title = {Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU},
url = {https://research.tudelft.nl/en/publications/free-flight-force-estimation-of-a-235-g-flapping-wing-mav-using-a},
url2 = {http://www.iros2016.org/},
year = {2016}
}
  • [DOI] S. Armanini, J. {Aguiar Vieira Caetano}, G. {de Croon}, C. {de Visser}, and M. Mulder, “Quasi-steady aerodynamic model of clap-and-fling flapping mav and validation using free-flight data,” Bioinspiration & biomimetics: learning from nature, vol. 11, iss. 4, 2016.
    [Bibtex] 
    @article{582c8bb07f364cd89358d2f8df024f82,
author = {Sophie Armanini and {Aguiar Vieira Caetano}, Joao and {de Croon}, Guido and {de Visser}, Coen and Max Mulder},
doi = {10.1088/1748-3190/11/4/046002},
issn = {1748-3182},
journal = {Bioinspiration \& Biomimetics: learning from nature},
language = {English},
number = {4},
publisher = {IOP Publishing},
title = {Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data},
url = {https://research.tudelft.nl/en/publications/quasi-steady-aerodynamic-model-of-clap-and-fling-flapping-mav-and},
volume = {11},
year = {2016}
}
  • [DOI] S. Armanini, C. {de Visser}, G. {de Croon}, and M. Mulder, “A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle,” in Proceedings of the aiaa atmospheric flight mechanics conference, United States, 2016, p. 1–18.
    [Bibtex] 
    @inproceedings{f0077c91bca54f43867c91c49e347b2f,
address = {United States},
author = {SF Armanini and {de Visser}, CC and {de Croon}, GCHE and M Mulder},
booktitle = {Proceedings of the AIAA atmospheric flight mechanics conference},
doi = {10.2514/6.2016-1529},
editor = {s.n.},
isbn = {978-1-62410-390-2},
language = {English},
note = {harvest AIAA 2016-1529; AIAA Atmospheric Flight Mechanics Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
pages = {1--18},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle},
url = {https://research.tudelft.nl/en/publications/a-time-scale-separation-approach-for-time-varying-model-identific},
url2 = {https://doi.org/10.2514/MAFM16},
year = {2016}
}
  • [DOI] S. Armanini, C. {de Visser}, G. {de Croon}, and M. Mulder, “Time-varying model identification of flapping-wing vehicle dynamics using flight data,” Journal of guidance, control, and dynamics: devoted to the technology of dynamics and control, vol. 39, iss. 3, p. 526–541, 2016.
    [Bibtex] 
    @article{36c5500d3e874b779e35e8af4189f380,
author = {SF Armanini and {de Visser}, CC and {de Croon}, GCHE and M Mulder},
doi = {10.2514/1.G001470},
issn = {0731-5090},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
language = {English},
number = {3},
pages = {526--541},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Time-varying model identification of flapping-wing vehicle dynamics using flight data},
url = {https://research.tudelft.nl/en/publications/time-varying-model-identification-of-flapping-wing-vehicle-dynami},
volume = {39},
year = {2016}
}
  • [DOI] S. Armanini, J. {Aguiar Vieira Caetano}, C. {de Visser}, G. {de Croon}, and M. Mulder, “Aerodynamic model identification of a clap-and-fling flapping-wing mav: a comparison between quasi-steady and black-box approaches,” in Proceedings of the aiaa atmospheric flight mechanics conference, United States, 2016, p. 1–15.
    [Bibtex] 
    @inproceedings{7a0ed83acfea4e1ab7381da489c9d2fe,
address = {United States},
author = {SF Armanini and {Aguiar Vieira Caetano}, JV and {de Visser}, CC and {de Croon}, GCHE and M Mulder},
booktitle = {Proceedings of the AIAA atmospheric flight mechanics conference},
doi = {10.2514/6.2016-0014},
editor = {s.n.},
isbn = {978-1-62410-390-2},
language = {English},
note = {harvest AIAA 2016-0014; AIAA Atmospheric Flight Mechanics Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016},
pages = {1--15},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Aerodynamic model identification of a clap-and-fling flapping-wing MAV: A comparison between quasi-steady and black-box approaches},
url = {https://research.tudelft.nl/en/publications/aerodynamic-model-identification-of-a-clap-and-fling-flapping-win},
url2 = {https://doi.org/10.2514/MAFM16},
year = {2016}
}
  • [DOI] {S. F. }. Armanini, M. Polak, {J. E. }. Gautrey, A. Lucas, and {J. F. }. Whidborne, “Decision-making for unmanned aerial vehicle operation in icing conditions,” Ceas aeronautical journal, vol. 7, iss. 4, p. 663–675, 2016.
    [Bibtex] 
    @article{38eeb24456c34b1e8b889eb41d728f83,
author = {Armanini, {S. F.} and M. Polak and Gautrey, {J. E.} and A. Lucas and Whidborne, {J. F.}},
day = {1},
doi = {10.1007/s13272-016-0215-2},
issn = {1869-5582},
journal = {CEAS Aeronautical Journal},
keywords = {Aircraft icing, Decision-making, Ice detection, Unmanned aerial system},
language = {English},
month = {December},
number = {4},
pages = {663--675},
publisher = {Springer Science+Business Media},
title = {Decision-making for unmanned aerial vehicle operation in icing conditions},
url = {https://research.tudelft.nl/en/publications/decision-making-for-unmanned-aerial-vehicle-operation-in-icing-co},
volume = {7},
year = {2016}
}

2017

  • [DOI] S. Armanini, C. {de Visser}, G. {de Croon}, and J. {Aguiar Vieira Caetano}, “Modelling wing wake and tail-wake interaction of a clap-and-peel flapping-wing mav,” in Aiaa modeling and simulation technologies conference, United States, 2017.
    [Bibtex] 
    @inproceedings{a72dfb453ebf4c0d8d7eff449a1cab8b,
address = {United States},
author = {Sophie Armanini and {de Visser}, Coen and {de Croon}, Guido and {Aguiar Vieira Caetano}, Joao},
booktitle = {AIAA Modeling and Simulation Technologies Conference},
doi = {10.2514/6.2017-0581},
language = {English},
note = {AIAA Modeling and Simulation Technologies Conference 2017 ; Conference date: 05-06-2017 Through 09-06-2017},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Modelling wing wake and tail-wake interaction of a clap-and-peel flapping-wing MAV},
url = {https://research.tudelft.nl/en/publications/modelling-wing-wake-and-tail-wake-interaction-of-a-clap-and-peel-},
url2 = {http://scitech.aiaa.org/MST/},
year = {2017}
}
  • [DOI] S. Armanini, M. Karasek, G. {de Croon}, and C. {de Visser}, “Onboard/offboard sensor fusion for high-fidelity flapping-wing robot flight data,” Journal of guidance, control, and dynamics: devoted to the technology of dynamics and control, vol. 40, iss. 8, p. 2121–2132, 2017.
    [Bibtex] 
    @article{bf93134a1b2b4ab8878f69a9130e0522,
author = {Sophie Armanini and Matej Karasek and {de Croon}, Guido and {de Visser}, Coen},
doi = {10.2514/1.G002527},
issn = {0731-5090},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
language = {English},
number = {8},
pages = {2121--2132},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Onboard/Offboard Sensor Fusion for High-Fidelity Flapping-Wing Robot Flight Data},
url = {https://research.tudelft.nl/en/publications/onboardoffboard-sensor-fusion-for-high-fidelity-flapping-wing-rob},
volume = {40},
year = {2017}
}
  • [DOI] S. Armanini, M. Karasek, C. {de Visser}, G. {de Croon}, and M. Mulder, “Flight testing and preliminary analysis for global system identification of ornithopter dynamics using on-board and off-board data,” in Aiaa atmospheric flight mechanics conference, 2017, United States, 2017.
    [Bibtex] 
    @inproceedings{e3e18073acdc4389b6b49a16c41eb5e3,
address = {United States},
author = {Sophie Armanini and Matej Karasek and {de Visser}, Coen and {de Croon}, Guido and Max Mulder},
booktitle = {AIAA Atmospheric Flight Mechanics Conference, 2017},
doi = {10.2514/6.2017-1634},
language = {English},
note = {AIAA Atmospheric Flight Mechanics Conference, 2017 ; Conference date: 05-06-2017 Through 09-06-2017},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Flight Testing and Preliminary Analysis for Global System Identification of Ornithopter Dynamics Using On-board and Off-board Data},
url = {https://research.tudelft.nl/en/publications/flight-testing-and-preliminary-analysis-for-global-system-identif},
year = {2017}
}
  • [DOI] {J. V. }. Caetano, {S. F. }. Armanini, and M. Karásek, “In-flight data acquisition and flight testing for system identification of flapping-wing mavs,” in 2017 international conference on unmanned aircraft systems, icuas 2017, United States, 2017, p. 646–655.
    [Bibtex] 
    @inproceedings{03792d0440fd420c8edb7bb515b196ba,
address = {United States},
author = {Caetano, {J. V.} and Armanini, {S. F.} and M. Kar{\'a}sek},
booktitle = {2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017},
day = {25},
doi = {10.1109/ICUAS.2017.7991452},
language = {English},
month = {July},
note = {2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017 ; Conference date: 13-06-2017 Through 16-06-2017},
pages = {646--655},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
title = {In-flight data acquisition and flight testing for system identification of flapping-wing MAVs},
url = {https://research.tudelft.nl/en/publications/in-flight-data-acquisition-and-flight-testing-for-system-identifi},
year = {2017}
}

2018

  • [DOI] S. Armanini, M. Karasek, and C. {de Visser}, “Global linear parameter-varying modeling of flapping-wing dynamics using flight data,” Journal of guidance, control, and dynamics: devoted to the technology of dynamics and control, vol. 41, iss. 11, p. 2338–2360, 2018.
    [Bibtex] 
    @article{087b6ba9319f4eecb60cd70e96b9aa5d,
author = {Sophie Armanini and Matej Karasek and {de Visser}, Coen},
doi = {10.2514/1.G003505},
issn = {0731-5090},
journal = {Journal of Guidance, Control, and Dynamics: devoted to the technology of dynamics and control},
language = {English},
number = {11},
pages = {2338--2360},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Global Linear Parameter-Varying Modeling of Flapping-Wing Dynamics Using Flight Data},
url = {https://research.tudelft.nl/en/publications/global-linear-parameter-varying-modeling-of-flapping-wing-dynamic},
volume = {41},
year = {2018}
}
  • [DOI] F. Rijks, M. Karasek, S. Armanini, and C. {de Visser}, “Studying the effect of the tail on the dynamics of a flapping-wing mav using free-flight data,” in Proceedings of the 2018 aiaa modeling and simulation technologies conference, United States, 2018.
    [Bibtex] 
    @inproceedings{65c1495c6fba439f9908100bc1d2d8bb,
address = {United States},
author = {Frank Rijks and Matej Karasek and Sophie Armanini and {de Visser}, Coen},
booktitle = {Proceedings of the 2018 AIAA Modeling and Simulation Technologies Conference},
doi = {10.2514/6.2018-0524},
language = {English},
note = {2018 AIAA Modeling and Simulation Technologies Conference ; Conference date: 08-01-2018 Through 12-01-2018},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Studying the Effect of the Tail on the Dynamics of a Flapping-Wing MAV using Free-Flight Data},
url = {https://research.tudelft.nl/en/publications/studying-the-effect-of-the-tail-on-the-dynamics-of-a-flapping-win},
url2 = {https://doi.org/10.2514/MMST18},
year = {2018}
}
  • [DOI] S. Armanini, M. Karasek, and C. {de Visser}, “Global lpv model identification of flapping-wing dynamics using flight data,” in Proceedings of the 2018 aiaa modeling and simulation technologies conference, United States, 2018.
    [Bibtex] 
    @inproceedings{548b1ffba1f04b8ca01238246003d2a9,
address = {United States},
author = {Sophie Armanini and Matej Karasek and {de Visser}, Coen},
booktitle = {Proceedings of the 2018 AIAA Modeling and Simulation Technologies Conference},
doi = {10.2514/6.2018-2156},
language = {English},
note = {2018 AIAA Modeling and Simulation Technologies Conference ; Conference date: 08-01-2018 Through 12-01-2018},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Global LPV model identification of flapping-wing dynamics using flight data},
url = {https://research.tudelft.nl/en/publications/global-lpv-model-identification-of-flapping-wing-dynamics-using-f},
url2 = {https://doi.org/10.2514/MMST18},
year = {2018}
}
  • [DOI] S. Armanini, “Identification of time-varying models for flapping-wing micro aerial vehicles,” PhD Thesis, 2018.
    [Bibtex] 
    @phdthesis{37be45913e024ad3b80030bf41a85f1c,
author = {Sophie Armanini},
doi = {10.4233/uuid:37be4591-3e02-4ad3-b800-30bf41a85f1c},
isbn = {978-94-6186-895-4},
keywords = {Flapping-wing flight, Micro Aerial Vehicle, System identification, Aerodynamic modelling, Free-flight testing},
language = {English},
school = {Delft University of Technology},
title = {Identification of time-varying models for flapping-wing micro aerial vehicles},
url = {https://research.tudelft.nl/en/publications/identification-of-time-varying-models-for-flapping-wing-micro-aer},
year = {2018}
}
  • [DOI] M. Goedhart, E. {van Kampen}, S. Armanini, C. {de Visser}, and Q. Chu, “Machine learning for flapping wing flight control,” in Proceedings of the 2018 aiaa information systems-aiaa infotech @ aerospace, United States, 2018.
    [Bibtex] 
    @inproceedings{570432dd84694303bef1d9551683898f,
address = {United States},
author = {Menno Goedhart and {van Kampen}, Erik-Jan and Sophie Armanini and {de Visser}, Coen and Qiping Chu},
booktitle = {Proceedings of the 2018 AIAA Information Systems-AIAA Infotech @ Aerospace},
day = {8},
doi = {10.2514/6.2018-2135},
language = {English},
month = {January},
note = {AIAA Information Systems-AIAA Infotech at Aerospace, 2018 ; Conference date: 08-01-2018 Through 12-01-2018},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
title = {Machine Learning for Flapping Wing Flight Control},
url = {https://research.tudelft.nl/en/publications/machine-learning-for-flapping-wing-flight-control},
url2 = {https://doi.org/10.2514/MIAA18},
year = {2018}
}

2019

  • [DOI] {S. F. }. Armanini, {J. V. }. Caetano, {C. C. }. {de Visser}, {M. D. }. Pavel, {G. C. H. E. }. {de Croon}, and M. Mulder, “Modelling wing wake and tail aerodynamics of a flapping-wing micro aerial vehicle,” International journal of micro air vehicles, vol. 11, 2019.
    [Bibtex] 
    @article{0d5929e23c0e4f4b8bb2e7ee5b1e9b6a,
author = {Armanini, {S. F.} and Caetano, {J. V.} and {de Visser}, {C. C.} and Pavel, {M. D.} and {de Croon}, {G. C.H.E.} and M. Mulder},
day = {5},
doi = {10.1177/1756829319833674},
issn = {1756-8293},
journal = {International Journal of Micro Air Vehicles},
keywords = {aerodynamic modelling, Flapping-wing micro air vehicle, flapping-wing wake, system identification, tail-wing wake interaction, OA-Fund TU Delft},
language = {English},
month = {March},
publisher = {Multi-Science Publishing Co. Ltd},
title = {Modelling wing wake and tail aerodynamics of a flapping-wing micro aerial vehicle},
url = {https://research.tudelft.nl/en/publications/modelling-wing-wake-and-tail-aerodynamics-of-a-flapping-wing-micr},
volume = {11},
year = {2019}
}

2020

  • [DOI] {J. B. W. }. Nijboer, {S. F. }. Armanini, M. Karásek, and {C. C. }. {de Visser}, “Longitudinal grey-box model identification of a tailless flapping wing mav based on free-flight data,” in Aiaa scitech 2020 forum, United States, 2020.
    [Bibtex] 
    @inproceedings{ef42b13b070845d78776d14f9286e6c1,
address = {United States},
author = {Nijboer, {J. B.W.} and Armanini, {S. F.} and M. Kar{\'a}sek and {de Visser}, {C. C.}},
booktitle = {AIAA Scitech 2020 Forum},
doi = {10.2514/6.2020-1964},
language = {English},
note = {AIAA Scitech Forum, 2020 ; Conference date: 06-01-2020 Through 10-01-2020},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
series = {AIAA Scitech 2020 Forum},
title = {Longitudinal grey-box model identification of a tailless flapping wing mav based on free-flight data},
url = {https://research.tudelft.nl/en/publications/longitudinal-grey-box-model-identification-of-a-tailless-flapping},
year = {2020}
}

2022

  • I. Panchal, I. C. Metz, M. J. Ribeiro, and S. F. Armanini, “Urban air traffic management for collision avoidance with non-cooperative airspace users,” in 33rd congress of the international council of the aeronautical sciences (2022), 2022.
    [Bibtex] 
    @inproceedings{5df258b88c1c4d84b9aff4381f9e6c0f,
author = {Isha Panchal and I.C. Metz and M.J. Ribeiro and S.F. Armanini},
booktitle = {33rd Congress of the International Council of the Aeronautical Sciences (2022)},
keywords = {Air Taxi Drones, Electric Vertical Take-Off and Landing Vehicles, Collision Avoidance, Conflict Detection \& Resolution (CD\&R), Urban air mobility, Traffic Management},
language = {English},
note = {33rd Congress of the International Council of the Aeronautical Sciences : ICAS 2022, ICAS 2022 ; Conference date: 04-09-2022 Through 09-09-2022},
title = {Urban Air Traffic Management For Collision Avoidance with Non-Cooperative Airspace Users},
url = {https://research.tudelft.nl/en/publications/urban-air-traffic-management-for-collision-avoidance-with-non-coo},
year = {2022}
}