Drone Research Table

ID	Title	Delivery Type	Contribution	Metrics	Collison Type	Evaluation Methods	Collison Cause	Method of Deviation	Research Challenges
1	Collisionless Fast Pattern Formation Mechanism for Dynamic Number of UAVs	No specific context	Dynamic Trajectory Planning	Pattern formation time, Collision prevention rate, Number of drones	Between drones	Simulation	Simultaneous Multiple Drones, Response Time, Static Trajectory Planning	Time-Interleaved Pattern Formation Mechanism (TIPF), Centralized Coordinate Calculation Algorithm (CCC)	Collision Prevention and Safety, Drone Scalability and Density
2	Blockchain-Powered Policy Enforcement for Ensuring Flight Compliance in Drone-Based Service Systems	Commercial	Dynamic Trajectory Planning	Service delivery time, Privacy violation percentage, Validation time for transactions	Between drones	Simulation	Simultaneous Multiple Drones, Speed Adjustment	Altitude and Speed Policies, Route Planning	Collision Prevention and Safety
3	Drones in the Big City: Autonomous Collision Avoidance for Aerial Delivery Services	Commercial	Collision Prevention Strategy	Collision rate, Duration of successful trips, Number of drones collided per collision event, Number of drones collided per route deviation	Between drones and with objects	Simulation and Modeling	Inadequate Evasion Decisions, Simultaneous Multiple Drones, Obstacles	SingleDrone, MultiDrone, SpeedDrone	Drone Scalability and Density
4	Medrone	Health	Autonomous Drone Navigation	Flight time and movement	Between drones and with objects	Experiment	Lack of Collision Prevention Systems, Obstacles	Ultrasonic Sensors	Navigation Challenges and Complex Environments, Maneuverability and Flight Control
5	Congestion-Aware Multi-Drone Delivery Routing Framework	Commercial	Framework	Energy, Speed	Between drones and with objects	Simulation	Lack of Trajectory Planning, Simultaneous Multiple Drones, Obstacles, Lack of Collision Prevention Systems	Negotiated Congestion Algorithm (NC)	Collision Prevention and Safety, Energy and Batteries
6	Drone Navigation Using Region and Edge Exploitation-Based Deep CNN	Commercial	Architecture	Collision Probability	With Objects	Experiment	Obstacles	Region-and-Edge-Based Deep Convolutional Neural Network (Drone-STM-RENet)	Navigation Challenges and Complex Environments
7	A Collision-Free Path Planning Algorithm for Unmanned Aerial Vehicle Delivery	Commercial	Dynamic Trajectory Planning	Route time, Success rate, Average delay time	Between drones and with objects	Simulation	Lack of Trajectory Planning, Simultaneous Multiple Drones, Obstacles	Heuristic Function, CurrentSchedule	Energy and Batteries, Airspace Restrictions and Rules
8	Tangent-Based Path Planning for UAV in a 3-D Low Altitude Urban Environment	Commercial	Dynamic Trajectory Planning	Path length per case, Time consumption per case, Risk cost per case	With Objects	Simulation	Obstacles, Mobility Constraints	3D Tangent Method, Speed Obstacle Incorporation	Maneuverability and Flight Control
9	UAV Threat Level Assessment based on the Velocity and Distance from Collision	No specific context	Collision Prevention Strategy	Speed	With Objects	Simulation	Speed Adjustment, Obstacles	Doppler Sensors	Route Planning and Optimization
10	Vision-Based Obstacle Avoidance in Drone Navigation using Deep Reinforcement Learning	No specific context	Architecture	Flight Success	With Objects	Simulation	Manual Trajectory Planning, Obstacles	Deep Reinforcement Learning (DRL)	Navigation Challenges and Complex Environments
10	Vision-Based Obstacle Avoidance in Drone Navigation using Deep Reinforcement Learning	No specific context	Architecture	Flight success	With objects	Simulation	Manual trajectory planning, Obstacles	Deep Reinforcement Learning (DRL)	Navigation Challenges and Complex Environments
11	Coordinated Dense Aerial Traffic with Self-Driving Drones	Commercial	Collision Prevention Strategy	Traffic flow	Between drones	Simulation and Experiment	Simultaneous Multiple Drones, Speed Adjustment, Obstacles	Anisotropic Repulsion, Agile Self-Driving, Selective Alignment	Drone Scalability and Density
12	Path Planning for Drone Delivery in Dense Building Environments	Commercial	Static Trajectory Planning	Convergence rate	With objects	Simulation	Obstacles	Ant Colony Optimization Algorithm (ACO), Rapidly Exploring Random Tree (RRT)	Navigation Challenges and Complex Environments
13	Collaborative Truck Multi-Drone Delivery System Considering Drone Scheduling and En Route Operations	Commercial	Dynamic Trajectory Planning	Delivery completion time, Total delivery cost, Drone recovery time undefined for truck stops	With objects	Simulation	Load Capacity, Lack of Trajectory Planning	Scheduling Decisions	Logistics and Operational Decisions
14	Planning Deliveries with UAV Routing under Weather Forecast and Energy Consumption Constraints	No specific context	Collision Prevention Strategy	Load, Energy, and Speed	With objects	Simulation	Load Capacity, Lack of Trajectory Planning, Speed Adjustment, Obstacles	Forecasting, Offline Planning	Route Planning and Optimization
15	Automated Aerial Suspended Cargo Delivery Through Reinforcement Learning	Commercial	Static Trajectory Planning	Load, Spectral Power Density	With objects	Simulation and Experiment	Load Capacity, Obstacles	Movement Planning, Reinforcement Learning Agent	Traffic Management and Coordination
16	Optimization of Trucks and Drones in Tandem Delivery Network with Drone Trajectory Planning	Commercial	Static Trajectory Planning	Number of drones, Distance between drones, Collision prevention time	With objects	Simulation and Modeling	Lack of Trajectory Planning, Simultaneous Multiple Drones	Trajectory Planning, Collision Region	Collision Prevention and Safety, Energy and Batteries
17	Broadcast Transponders for Low-Flying Unmanned Aerial Vehicles	Commercial	Collision Prevention Strategy	Reliability	Between drones	Simulation	Simultaneous Multiple Drones, Obstacles	ADS-B Transponder System, Cooperative System	Interference Management and Communication
18	FFP: A Force Field Protocol for the Tactical Management of UAV Conflicts	No specific context	Collision Prevention Strategy	Distance to waypoint, Distance between drones	Between drones and with objects	Simulation	Load Capacity, Lack of Trajectory Planning, Obstacles	Force Field Protocol (FFP)	Maneuverability and Flight Control
19	Consensus-Based Virtual Leader Tracking Swarm Algorithm with GDRRT*-PSO for Path-Planning of Multiple-UAVs	Commercial	Dynamic Trajectory Planning	Time to destination, Formation control during flight, Communication loss	Between drones and with objects	Simulation	Technical Failures, Lack of Trajectory Planning, Obstacles	GDRRT-PSO Algorithm	Traffic Management and Coordination
20	Preliminary Damage Severity Evaluation of Ground Vehicles and Covered Walkways under Collision with a Small Unmanned Aerial Vehicle (sUAV)	No specific context	Collision Prevention Strategy	Collision speed variations, Impact force	Between drones and with objects	Simulation	Technical Failures, Simultaneous Multiple Drones	Finite Element Method (FEM)	Collision Prevention and Safety
21	Autonomous Drone Interception with Deep Reinforcement Learning	Commercial	Collision Prevention Strategy	Interception success rate, Attacker influence area, Speed variations	Between drones	Simulation	Speed Adjustment	ACAS-Xu System	Navigation Challenges and Complex Environments
22	Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments	Commercial	Collision Prevention Strategy	Total number of collisions, Number of completed missions per drone, Total number of completed missions by many drones	Between drones	Simulation	Lack of Trajectory Planning, Simultaneous Multiple Drones	Speed Control, Flight Levels	Collision Prevention and Safety, Traffic Management and Coordination
23	Drone-Drone Collisions over New York City via the Kinetic Theory of Gases	Commercial	Collision Prevention Strategy	Collision Rate Per Day (CPD), Encounter Rate Per Day (EPD)	Between drones	Simulation and Modeling	Lack of Trajectory Planning, Simultaneous Multiple Drones	Unmanned Aircraft Traffic Management (UTM)	Collision Prevention and Safety
24	Low-Cost Collision Avoidance in Microverse for Unmanned Aerial Vehicle Delivery Networks	Commercial	Collision Prevention Strategy	GPS Deviation, Round-Trip Delay (RTD), Safe Distance (Dsafe)	Between drones and with objects	Simulation and Experiment	Simultaneous Multiple Drones	LoCASM (Low-Cost Collision Avoidance Scheme in Microverse)	Drone Scalability and Density, Interference Management and Communication
25	Systemic Performance Analysis on Zoning for Unmanned Aerial Vehicle-Based Service Delivery	Commercial	Collision Prevention Strategy	Minimum distance between drones, Response time	Between drones	Simulation	Lack of Trajectory Planning, Simultaneous Multiple Drones	Zoning	Navigation Challenges and Complex Environments, Traffic Management and Coordination
26	Drone-Fleet-Enabled Logistics: A Joint Design of Flight Trajectory and Package Delivery	Commercial	Collision Prevention Strategy	Total Value of Delivered Packages	Between drones	Simulation	Load Capacity, Lack of Trajectory Planning, Obstacles	Trajectory Planning	Route Planning and Optimization, Airspace Restrictions and Rules
27	Clothoid-Based Path Planning for a Formation of Fixed-Wing UAVs	No specific context	Static Trajectory Planning	Number of UAVs, Speed Variations	Between drones	Simulation	Lack of Trajectory Planning, Speed Adjustment, Obstacles	Trajectory Planning	Route Planning and Optimization
28	A 3D Vision Cone-Based Method for Collision-Free Navigation of a Quadcopter UAV Among Moving Obstacles	No specific context	Dynamic Trajectory Planning	Minimum distance between drones and obstacles	With objects	Simulation	Obstacles	3D Vision Cone Algorithm	Navigation Challenges and Complex Environments
29	Deployment of Battery Swapping Stations for Unmanned Aerial Vehicles Subject to Cyclic Production Flow Constraints	Commercial	Dynamic Trajectory Planning	Energy Consumption	Between drones	Modeling	Battery Load, Simultaneous Multiple Drones	Trajectory Planning	Traffic Management and Coordination
30	Coordinated Dense Aerial Traffic with Self-Driving Drones	Commercial	Collision Prevention Strategy	Delivery Time, Speed Variation, Resource Utilization	Between drones	Modeling and Simulation	Speed Adjustment, Simultaneous Multiple Drones	Anisotropic Repulsion, Agile Self-Driving, Selective Alignment, Radial Queue	Navigation Challenges and Complex Environments, Traffic Management and Coordination, Drone Scalability and Density
31	Declarative UAV Fleet Mission Planning: A Dynamic VRP Approach	Commercial	Dynamic Trajectory Planning	Service Level, Throughput	Between drones	Modeling and Experiment	Lack of Collision Prevention Systems	Dynamic Evasion	Logistics and Operational Decisions
32	Analysis of the Possibility of Using Autonomous Aircraft to Deliver Parcels: Route Optimization	No specific context	Static Trajectory Planning	Energy Consumption, Delivery Time	Between drones	Modeling	Lack of Trajectory Planning	Trajectory Planning	Route Planning and Optimization, Energy and Batteries
33	Dynamic MAC Protocol Designed for UAV Collision Avoidance System	No specific context	Collision Prevention Strategy	Latency, Number of Collisions	Between drones	Simulation	Mobility Constraints	Rolling Maneuver, Missed Approach Maneuver	Logistics and Operational Decisions, Interference Management and Communication
34	Development of Cloud-Based UAV Monitoring and Management System	Commercial	Web Application	Latency, Utilization, Number of Drones, Response Time, Mission Time, Total Collisions	Between drones	Simulation	Lack of Collision Prevention Systems, Simultaneous Multiple Drones	Detection Algorithm, Safety Zones	Navigation Challenges and Complex Environments

Categorization of each paper