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Afonso et al. CONCLUSIONS In this article we presented an overview of UASs for civil applications focusing on the communication component. We identified several available communication technologies for UAVs, their constraints, and also protocols available for implementing the remote operation of the vehicles. As an attractive solution for the A2G communication link for UAVs, we discussed the potential of mobile networks with their fully deployed infrastructures, wide radio coverage, high throughputs, reduced latencies, and large availability of radio modems. We described how a UAS can be implemented in a flexible and modular approach that allows it to rely on one or several wireless (UAVs and GCSs) and wired (GCSs) technologies. Despite the advantages of a system based on cellular and IP networks, there are problems that must be dealt with, namely, possible loss of radio coverage, presence of NAT, delay, jitter, and packet loss. Following the proposed architecture, we implemented an UAS and conducted some flight tests, which showed that the operation of the vehicles in semi-automatic or fully-automatic modes is feasible. It is expected that future enhancements for 4G networks and evolution to 5G will benefit UAV communications even further with lower latencies, higher throughput, and higher reliability. ACKNOWLEDGMENTS REFERENCES [2] [3] [4] [5] [8] [9] [10] [11] [12] [14] [15] Bekmezci, I., Sahingoz, O. K., and Temel, S. Flying ad-hoc networks (FANET): A survey. Ad Hoc Networks, Vol. 11, 3 (May 2013), 1,254- 1,270. Andre, T., Hummel, K., Schoellig, A., and Yanmaz, D. Applicationdriven design of aerial communication networks. IEEE Communications Magazine, Vol. 52, 5 (May 2014), 129-137. Austin, R. Unmanned Aircraft Systems: UAVS Design, Development and Deployment. Chichester, UK: Wiley, 2010. Lim, H., Par, J., Lee, D., and Kim, H. Open-source projects on unmanned aerial vehicles: Build your own quadcopter. IEEE Robotics and Automation Magazine, Vol. 19, 3 (2012), 33-45. Yanmaz, E., Hayat, S., Scherer, J., and Bettstetter, C. Experimental performance analysis of two-hop aerial 802.11 networks. In Proceed- AUGUST 2016 [7] [13] This work was partially supported by the SAAS (Remotely Piloted Semi-Autonomous Aerial Surveillance System Using Terrestrial Wireless Networks) project which was funded by the Instituto de Telecomunicações and the FCT-Fundação para a Ciência e Tecnologia (PEst-OE/EEI/LA0008/2013). [1] [6] [16] [17] [18] IEEE A&E SYSTEMS MAGAZINE ings of the IEEE Wireless Communications and Networking Conference (WCNC), Istanbul, Turkey, 2014, 3,118-3,123. Jang, J., and Liccardo, D. Small UAV automation using MEMS. IEEE Aerospace and Electronic Systems Magazine, Vol. 22, 5 (May 2007), 30-34. Ilarslan, M., Bayrakceken, M. K., and Arisoy, A. Avionics system design of a mini VTOL UAV. IEEE Aerospace and Electronic Systems Magazine, Vol. 26, 10 (Oct. 2011), 35-40. Frew, E., and Brown, T. Airborne communication networks for small unmanned aircraft systems. Proceedings of the IEEE, Vol. 96, 12 (2008), 2,008-2,027. Cox, C. An Introduction to LTE: LTE, LTE-Advanced, SAE and 4G Mobile Communications. Chichester, UK: Wiley, 2012. Daniel K., and Wietfeld, C. Using public network infrastructures for UAV remote sensing in civilian security operations. Homeland Security Affairs (HSAJ), Mar. 2011. Tavares, T., Sebastião, P., Souto, N. S., Cercas, F. C., Ribeiro, M. A., Correia, A., Velez, A. J. Generalized LUI propagation model for UAVs communications using terrestrial cellular networks. In Proceedings of the IEEE Vehicular Technology Conference--VTC-Fall, Boston, MA, Sept. 2015. Lin, Y, Tseng, C., Ho, C., and Wu, Y. How NAT-compatible are VoIP applications? IEEE Communications Magazine, Vol. 48, 12 (2010), 58-65. Chi, T., Ming, Y., Tseng, C., and Kuo, S. Civil UAV path planning algorithm for considering connection with cellular data network. In Proceedings of the IEEE 12th International Conference on Computer and Information Technology (CIT), Chengdu, China, Oct. 2012, 327-331. Pastor, R., Lopez, J., and Royo, P. UAV payload and mission control hardware/software qrchitecture. IEEE Aerospace and Electronic Systems Magazine, Vol. 22, 6 (June 2007), 3-8. Fodor G., et al., Design aspects of network assisted device-to-device communications. IEEE Communications Magazine. Vol. 50, 3 (March 2012), 170-177. Asadpour, M., Bergh, B., Giustiniano, D., and Hummel, K. Micro aerial vehicle networks: An experimental analysis of challenges and opportunities. IEEE Communications Magazine, Vol. 52, 7 (July 2014), 141-149. Osseiran, A., Boccardi, F., Braun, V., Kusume, K., et. al., Scenarios for 5G mobile and wireless communications: The vision of the METIS project. IEEE Communications Magazine, Vol. 52, 5 (May 2014), 26-35. Agyapong, P., Iwamura, M., Staehle, D., Kiess, W., and Benjebbour, A. Design considerations for a 5G network architecture. IEEE Communications Magazine, Vol. 52, 11 (Nov. 2014), 65-75. 11

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