Abstract
Unmanned Aerial Systems (UAS) are becoming increasingly popular in the public safety sector. While some applications have so far only been envisioned, others are regularly performed in real-life scenarios. Many more fall in between and are actively investigated by research and commercial communities alike. This study reviews the maturity levels, or "market-readiness", of public safety applications for UAS. As individual assessments of all applications suggested in the literature are infeasible due to their sheer number, we propose a novel set of application categories: Remote Sensing, Mapping, Monitoring, Human-drone Interaction, Flying Ad-hoc Networks, Transportation, and Counter UAV Systems. Each category's maturity is assessed through a literature review of contained applications, using the metric of Application Readiness Levels (ARLs). Relevant aspects such as the environmental complexity and available mission time of addressed scenarios are taken into account. Following the analysis, we infer that improvements in autonomy and software reliability are the most promising research areas for increasing the usefulness and acceptance of UAS in the public safety domain.