The proposal is the development of a system collision avoidance model in which the UAV acts as an "elastic bubble", interacting with its surroundings and the inspected AS. This safety bubble mechanism works as a Sense and Avoid (SAA) control that forces the UAV to maintain a safe distance from the inspected AS. That control is enabled by passive non-cooperative sensor arrays that function as a robust and enhanced collision avoidance agent. The scope of the task order is to create a proof of concept UAV inspection system that can safely navigate through the AS without causing further damage to it.