{"id":"https://openalex.org/W4292825876","doi":"https://doi.org/10.1109/lra.2022.3196117","title":"CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications","display_name":"CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications","publication_year":2022,"publication_date":"2022-08-23","ids":{"openalex":"https://openalex.org/W4292825876","doi":"https://doi.org/10.1109/lra.2022.3196117"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3196117","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196117","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09849131.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09849131.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069356590","display_name":"Martin Scheiber","orcid":"https://orcid.org/0000-0002-3415-7378"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Martin Scheiber","raw_affiliation_strings":["Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0002-3415-7378","affiliations":[{"raw_affiliation_string":"Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088855536","display_name":"Alessandro Fornasier","orcid":"https://orcid.org/0000-0002-1774-3236"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Alessandro Fornasier","raw_affiliation_strings":["Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0002-1774-3236","affiliations":[{"raw_affiliation_string":"Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038552816","display_name":"Roland Jung","orcid":"https://orcid.org/0000-0003-4622-0079"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Roland Jung","raw_affiliation_strings":["Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0003-4622-0079","affiliations":[{"raw_affiliation_string":"Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031633307","display_name":"Christoph B\u00f6hm","orcid":"https://orcid.org/0000-0002-7650-5297"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Christoph Bohm","raw_affiliation_strings":["Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0002-7650-5297","affiliations":[{"raw_affiliation_string":"Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022208484","display_name":"Rohit Dhakate","orcid":"https://orcid.org/0000-0002-1721-7041"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Rohit Dhakate","raw_affiliation_strings":["Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0002-1721-7041","affiliations":[{"raw_affiliation_string":"Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057152167","display_name":"Christian Stewart","orcid":"https://orcid.org/0000-0002-4166-5987"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Christian Stewart","raw_affiliation_strings":["Aperture Robotics, LLC., Santa Barbara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4166-5987","affiliations":[{"raw_affiliation_string":"Aperture Robotics, LLC., Santa Barbara, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058140409","display_name":"Jan Steinbrener","orcid":"https://orcid.org/0000-0002-2465-2527"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Jan Steinbrener","raw_affiliation_strings":["Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0002-2465-2527","affiliations":[{"raw_affiliation_string":"Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075449650","display_name":"Stephan Wei\u00df","orcid":"https://orcid.org/0000-0001-6906-5409"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Stephan Weiss","raw_affiliation_strings":["Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0001-6906-5409","affiliations":[{"raw_affiliation_string":"Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068613728","display_name":"Christian Brommer","orcid":"https://orcid.org/0000-0002-2801-2172"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Christian Brommer","raw_affiliation_strings":["Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria"],"raw_orcid":"https://orcid.org/0000-0002-2801-2172","affiliations":[{"raw_affiliation_string":"Institute of Smart Systems Technologies, Group Control of Networked Systems, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5069356590"],"corresponding_institution_ids":["https://openalex.org/I4210166741"],"apc_list":null,"apc_paid":null,"fwci":0.9717,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.79733297,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"7","issue":"4","first_page":"11283","last_page":"11290"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9505000114440918,"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/T11005","display_name":"Radiation Effects in Electronics","score":0.9433000087738037,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.6453615427017212},{"id":"https://openalex.org/keywords/stack","display_name":"Stack (abstract data type)","score":0.5355218648910522},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.5168900489807129},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4548443555831909},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.447922021150589},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.18958041071891785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11167991161346436}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6453615427017212},{"id":"https://openalex.org/C9395851","wikidata":"https://www.wikidata.org/wiki/Q177929","display_name":"Stack (abstract data type)","level":2,"score":0.5355218648910522},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.5168900489807129},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4548443555831909},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.447922021150589},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.18958041071891785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11167991161346436}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3196117","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196117","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09849131.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2022.3196117","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196117","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09849131.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1141088940","display_name":null,"funder_award_id":"871260","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6535601879","display_name":null,"funder_award_id":"W911NF-21-2-0245","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7842005466","display_name":null,"funder_award_id":"Horizon 2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4292825876.pdf","grobid_xml":"https://content.openalex.org/works/W4292825876.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W1966301784","https://openalex.org/W2269415044","https://openalex.org/W2293443555","https://openalex.org/W2963513677","https://openalex.org/W2964957717","https://openalex.org/W3091667825","https://openalex.org/W3099665066","https://openalex.org/W3102406004","https://openalex.org/W3111025201","https://openalex.org/W3200568502","https://openalex.org/W3204718031","https://openalex.org/W4287250208","https://openalex.org/W6792244919"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2380576232","https://openalex.org/W2937054111","https://openalex.org/W2066223521","https://openalex.org/W2013178899","https://openalex.org/W373327546","https://openalex.org/W2321534397","https://openalex.org/W2058958858","https://openalex.org/W2077601556","https://openalex.org/W2148243540"],"abstract_inverted_index":{"While":[0],"low-level":[1,45],"auto":[2],"pilot":[3],"stacks":[4,30,49],"for":[5,21,71,82,129,161],"aerial":[6,22,194],"vehicles":[7,23],"focus":[8],"on":[9,43,132,155],"robust":[10],"control,":[11,46],"sensing,":[12],"and":[13,64,75,79,86,109,135,146,163,178,186],"estimation,":[14],"the":[15,44,54,106,111,169,180,193],"continuous":[16],"advancement":[17],"of":[18,158,192],"higher-level":[19,28],"autonomy":[20],"requires":[24],"much":[25],"more":[26],"complex":[27],"flight":[29,48,98,171],"in":[31,67,173],"order":[32],"to":[33,52,189],"enable":[34],"safe,":[35],"fully":[36,164],"autonomous":[37,165],"long-duration":[38],"missions.":[39],"Rather":[40],"than":[41],"focusing":[42],"high-level":[47,97],"are":[50],"required":[51],"monitor":[53],"system's":[55],"integrity":[56,80,144],"continuously,":[57],"initiate":[58],"contingency":[59],"plans,":[60],"execute":[61],"mission":[62,84,147],"plans":[63],"adapt":[65],"them":[66],"non-nominal":[68],"situations,":[69],"allow":[70],"proper":[72],"data":[73],"logging,":[74],"provide":[76],"standardized":[77],"interfaces":[78],"verification":[81],"external":[83],"planners":[85],"localization":[87],"modules.":[88,148],"To":[89],"that":[90,104],"end,":[91],"we":[92],"present":[93],"our":[94,183],"freely":[95],"available,":[96],"stack":[99,172],"dubbed":[100],"CNS":[101],"Flight":[102],"Stack":[103],"meets":[105],"above":[107],"requirements":[108],"at":[110],"same":[112],"time":[113],"a)":[114],"is":[115],"platform-agnostic":[116],"through":[117],"a":[118,156],"generalized":[119],"(embedded)":[120],"hardware":[121],"abstraction":[122],"layer,":[123],"b)":[124],"uses":[125],"low":[126],"compute":[127],"complexity":[128],"online":[130],"use":[131],"embedded":[133],"hardware,":[134],"c)":[136],"can":[137],"be":[138],"extended":[139],"with":[140],"other":[141],"sensor":[142],"modalities,":[143],"checks,":[145],"These":[149],"additional":[150],"properties":[151],"make":[152],"it":[153],"reproducible":[154],"variety":[157],"different":[159],"platforms":[160],"safe":[162],"applications.":[166],"We":[167],"tested":[168],"proposed":[170],"over":[174],"450":[175],"real-world":[176],"flights":[177],"report":[179],"failure":[181],"modes":[182],"framework":[184],"detected":[185],"also":[187],"mitigated":[188],"avoid":[190],"crashes":[191],"system.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}