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Unmanned aerial systems capable of beyond visual line of sight operation can be organized into a top-down hierarchy of layers including flight supervision, command and control, simulation of systems, operating systems, and physical hardware. Flight supervision includes unmanned air traffic management, flight planning, authorization, and remote identification. Command and control ensure drones can be piloted safely. Simulation of systems concerns how drones may react to different environmentsarXiv:2110.02260v1 fatcat:nzvtenbyrfebjfbymp26o5wbia