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Unmanned Aerial Systems (UAS), an integral part of the Advanced Air Mobility(AAM) vision, are capable of performing a wide spectrum of tasks in urbanenvironments. The societal integration of UAS is a pivotal challenge, as thesesystems must operate harmoniously within the constraints imposed by regulationsand societal concerns. In complex urban environments, UAS safety has been aperennial obstacle to their large-scale deployment. To mitigate UAS safety riskand facilitate risk-aware UAS operations planning, we propose a novel conceptcalled \textit{3D virtual risk terrain}. This concept converts public riskconstraints in an urban environment into 3D exclusion zones that UAS operationsshould avoid to adequately reduce risk to Entities of Value (EoV). To implementthe 3D virtual risk terrain, we develop a conditional probability frameworkthat comprehensively integrates most existing basic models for UAS ground risk.To demonstrate the concept, we build risk terrains on a Chicago downtown modeland observe their characteristics under different conditions. We believe thatthe 3D virtual risk terrain has the potential to become a new routine tool forrisk-aware UAS operations planning, urban airspace management, and policydevelopment. The same idea can also be extended to other forms of societalimpacts, such as noise, privacy, and perceived risk.

Developing 3D Virtual Safety Risk Terrain for UAS Operations in Complex Urban Environments