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Recently, the US Department of Transportation's Federal Aviation Administration and other international organizations have proposed a set of requirements for small unmanned aerial vehicles (UAVs) to operate for nonrecreational purposes. However, existing UAV architectures fulfill only some of the established requirements, and not all in one solution. This article presents an event-driven serviceoriented architecture that allows autonomous UAVs to satisfy all these requirements and to detect critical situations, performing real-time decision making.

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