  With the upcoming trends in autonomous driving and urban air mobility, the
number of self-navigating vehicles will increase, since they are foreseen for
deliveries as well as autonomous taxis among other applications. To this end, a
multitude of on-board systems for wireless communication, environment sensing,
and localization will become mandatory. This is particularly true for unmanned
aerial vehicles (UAVs), since participation in the airspace requires
compatibility to and safe interaction with established users. A certain number
of systems are already in-use and occupy defined spectra as well as
installation space, which limits the freedom in the design of new systems. The
miniaturization of aerial vehicles like drones for delivery services further
reduces the degrees of freedom, especially in terms of size and weight of any
additional equipment. Hence, in this paper a joint approach of the design of
joint communication, sensing and localization for UAVs is discussed. Towards
this goal, multi-mode multi-port antennas and joint waveform design are
proposed as a part of the solution, when elevating autonomous driving to the
third dimension.
