{"id":"https://openalex.org/W2116718344","doi":"https://doi.org/10.1109/acc.2013.6579913","title":"SLUGS UAV: A flexible and versatile hardware/software platform for guidance navigation and control research","display_name":"SLUGS UAV: A flexible and versatile hardware/software platform for guidance navigation and control research","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2116718344","doi":"https://doi.org/10.1109/acc.2013.6579913","mag":"2116718344"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6579913","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579913","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063608691","display_name":"Mariano Lizarraga","orcid":null},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mariano Lizarraga","raw_affiliation_strings":["Department of Computer Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","Department of Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]},{"raw_affiliation_string":"Department of Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, USA#TAB#","institution_ids":["https://openalex.org/I185103710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108540583","display_name":"Gabriel Hugh Elkaim","orcid":null},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabriel Hugh Elkaim","raw_affiliation_strings":["Department of Computer Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","Department of Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]},{"raw_affiliation_string":"Department of Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, USA#TAB#","institution_ids":["https://openalex.org/I185103710"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109838933","display_name":"Renwick E. Curry","orcid":null},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Renwick Curry","raw_affiliation_strings":["Department of Computer Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","Department of Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, University of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]},{"raw_affiliation_string":"Department of Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, USA#TAB#","institution_ids":["https://openalex.org/I185103710"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5063608691"],"corresponding_institution_ids":["https://openalex.org/I185103710"],"apc_list":null,"apc_paid":null,"fwci":1.5258,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.85970402,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"674","last_page":"679"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.7801530361175537},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.7162402868270874},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6286910772323608},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5690417289733887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5594019293785095},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5011258125305176},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4633396863937378},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.46165359020233154},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4244837462902069},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4141545295715332},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40886786580085754},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.40706291794776917},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3419221043586731},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.31141215562820435},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27058863639831543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22578850388526917},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.1311083436012268},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.12511953711509705},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12509602308273315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10426574945449829}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.7801530361175537},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.7162402868270874},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6286910772323608},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5690417289733887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5594019293785095},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5011258125305176},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4633396863937378},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.46165359020233154},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4244837462902069},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4141545295715332},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40886786580085754},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.40706291794776917},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3419221043586731},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31141215562820435},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27058863639831543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22578850388526917},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.1311083436012268},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.12511953711509705},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12509602308273315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10426574945449829},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2013.6579913","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6579913","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.294.6261","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.294.6261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://users.soe.ucsc.edu/~elkaim/Documents/SLUGSOverview_ACC.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W251520094","https://openalex.org/W1965952118","https://openalex.org/W1984069312","https://openalex.org/W2006222134","https://openalex.org/W2009805304","https://openalex.org/W2027127643","https://openalex.org/W2059011805","https://openalex.org/W2101494153","https://openalex.org/W2106907917","https://openalex.org/W2164796819","https://openalex.org/W2165908671","https://openalex.org/W2330222662","https://openalex.org/W2335374693","https://openalex.org/W2570913949","https://openalex.org/W4244044471","https://openalex.org/W6675132262","https://openalex.org/W6731856959"],"related_works":["https://openalex.org/W2688471429","https://openalex.org/W4360939124","https://openalex.org/W2077345734","https://openalex.org/W2528333064","https://openalex.org/W2899287767","https://openalex.org/W2275928629","https://openalex.org/W2392368911","https://openalex.org/W2186745985","https://openalex.org/W2022996306","https://openalex.org/W28244765"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,13,71,74,100,135,175],"Santa":[4,17],"Cruz":[5],"Low-Cost":[6],"UAV":[7],"GNC":[8],"Subsystem":[9],"(SLUGS)":[10],"developed":[11,173],"at":[12],"University":[14],"of":[15,27,162],"California":[16],"Cruz.":[18],"It":[19,33],"is":[20,34,125,179],"a":[21,29,42,83,120,148],"versatile":[22],"and":[23,39,44,70,76,86,96,113,127,139,155,172,181,197],"flexible":[24],"autopilot":[25],"capable":[26,161],"controlling":[28],"small":[30],"unmanned":[31],"system.":[32,176],"tightly":[35],"integrated":[36],"with":[37],"MATLAB/Simulink,":[38],"allows":[40],"for":[41,129],"simple":[43],"easy":[45],"transition":[46],"from":[47],"pure":[48],"simulation":[49,52],"to":[50,53,99,159,185],"HIL":[51],"flight":[54,132],"code.":[55],"The":[56,79,103,143,177],"hardware's":[57],"main":[58],"processing":[59],"units":[60],"are":[61],"two":[62],"low-cost":[63,149],"dsPIC33F":[64],"DSCs,":[65],"one":[66],"handling":[67],"sensor":[68,80],"input":[69],"other":[72],"managing":[73],"navigation":[75],"control":[77,101,104],"loops.":[78],"DSC":[81,105],"implements":[82,106],"complementary":[84],"attitude":[85,95],"position":[87,97],"filter.":[88],"An":[89],"interprocessor":[90],"communication":[91],"protocol":[92],"delivers":[93],"fused":[94],"estimates":[98],"DSC.":[102],"low-level":[107],"platform":[108],"stabilization":[109],"using":[110,174],"PID":[111],"loops,":[112],"higher":[114],"level":[115],"waypoint":[116],"following":[117],"based":[118],"on":[119,133,147],"line-of-sight":[121],"guidance":[122],"law.":[123],"Data":[124],"logged":[126],"available":[128],"replay":[130],"post":[131],"both":[134],"ground":[136],"station":[137],"software,":[138],"also":[140],"within":[141],"MATLAB/Simulink.":[142],"hardware":[144],"was":[145],"installed":[146],"single":[150],"engine":[151,194],"electric":[152],"RC":[153],"aircraft,":[154,195],"has":[156],"been":[157,170],"demonstrated":[158],"be":[160,183],"sustained":[163],"autonomous":[164,187],"flight.":[165],"Several":[166],"estimation":[167],"topologies":[168],"have":[169],"tested":[171],"SLUGS":[178],"general,":[180],"can":[182],"adapted":[184],"multiple":[186],"platforms":[188],"such":[189],"as":[190],"helicopters,":[191],"quadrotors,":[192],"twin":[193],"ground,":[196],"marine":[198],"surface":[199],"vehicles.":[200]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
