# UV System Architecture: Challenges and Evolution
## 1 Introduction
### Related Work  
As mentioned above, there are quite a few developments and companies that market the applications and uses of UVs, particularly UAVs. However, there is almost no technical information published in terms of architectures in general or at the application or component interaction levels. More specifically, we found no published scientific work with design information about the architecture for the construction of this type of application that had been proposed or at least validated through a proof of concept. There is much work that describes the architecture of specific applications, like [4,5]. In those cases, the architecture emphasizes thermal image detection and small target detection. Furthermore, there are many technical works on specific subsystems, e.g., [6] (antennas and communications for UAVs), [7] (UAV navigation and energy), and [8] (UAV landing). A more general approach is presented in [9] for smart agriculture applications. The work in [10] proposes a system architecture at the control level of multiple UAVs, based on the use of Arduino and Raspberry PI platforms combined with modular wireless sensor networks (modular wireless sensor network). In the line of multiple vehicle control, [11] also proposes a microservices-oriented architecture for planning, administration, and operation support processes. This architecture is at the administrative level and not for the construction of complete applications. In [12], based on the possibility of having multiple UAVs operating at the same time, a general-level architecture is described in the design of collaboration systems between vehicles. This proposal considers possibilities for addressing monitoring or disaster situations. For [13], the objective was the same, whereby a vehicle-level architecture combining both hardware and software was defined. Also, in this case, the goal was to use multiple vehicles, so the architecture ranges from device details to interactions between UAVs. In some cases, planning and resource management must be considered within the architecture. In [14], four blocks were at the center of their system: flight navigation, flight control, flight management, and mission management. On the other hand, in [15], three layers were considered for their modular architecture: control, flight management, and planning. Once again, these works focus on the operation of the vehicles but do not go into detail about the construction or operation of the different components of a complete application, maintaining the vehicles as \"closed structures\" that must be controlled. At the level of interaction between the components of a UAV, [16] presented an architecture with three blocks: aircraft, communication technology, and communication protocol. The interesting thing about this work is that in each block, they defined its parts, such as GPS, battery, and chassis, among others. This approach was preserved in [17] where the three blocks were the user interface, base station, and UAV (in this case, several). Within the UAV, only three components were modeled: control, sensor data acquisition, and planning; All stages of planning and data processing occurred at the base station, and at the end, the user was informed. This last work is perhaps the most similar to that presented in this paper, although it does not contain many of the details regarding technical, construction, or interactions between subsystems that we presented. In all cases, the use of UAVs is considered almost exclusively, so exploring generalization for UAVs could generate unknown drawbacks or be directly pushed aside by the almost \"dependent\" UAV approach. There are architectures aimed exclusively at a particular application and/or use of hardware or for very specific tasks. This is the case of [18], where the entire architecture at the hardware and software levels is aimed at the use of remote sensors. Also, in [19], the proposed architecture is in line with the generation of realistic scenarios for the simulation of operation in real environments for UAVs.