WP3-14 1

ID	WP3-14_1
Contributor	ENSMA
Levels	Function
Require	Proximity sensor
Provide	Geofencing, obstacle detection and avoidance, geofence preservation, safe trajectory
Input	X, Y, Z coordinates of the drone Roll, pitch and yaw angles of the drone Distance to the obstacle from sensor proximity detection Geofence virtual boundary information
Output	Required X, Y, Z torques and thrust or rotors’ speed
C4D building block	Geo-fencing and geo-awareness
TRL	3