{"id":"https://openalex.org/W4308820657","doi":"https://doi.org/10.23919/spa53010.2022.9927847","title":"Hardware-in-the-loop simulation of a UAV autonomous landing algorithm implemented in SoC FPGA","display_name":"Hardware-in-the-loop simulation of a UAV autonomous landing algorithm implemented in SoC FPGA","publication_year":2022,"publication_date":"2022-09-21","ids":{"openalex":"https://openalex.org/W4308820657","doi":"https://doi.org/10.23919/spa53010.2022.9927847"},"language":"en","primary_location":{"id":"doi:10.23919/spa53010.2022.9927847","is_oa":false,"landing_page_url":"https://doi.org/10.23919/spa53010.2022.9927847","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Signal Processing: Algorithms, Architectures, Arrangements, and Applications (SPA)","raw_type":"proceedings-article"},"type":"preprint","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/A5029094717","display_name":"Hubert Szolc","orcid":"https://orcid.org/0000-0003-3018-5731"},"institutions":[{"id":"https://openalex.org/I686019","display_name":"AGH University of Krakow","ror":"https://ror.org/00bas1c41","country_code":"PL","type":"education","lineage":["https://openalex.org/I686019"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Hubert Szolc","raw_affiliation_strings":["Embedded Vision Systems Group, AGH University of Science and Technology,Computer Vision Laboratory,Department of Automatic Control and Robotics,Krakow,Poland","Department of Automatic Control and Robotics, Computer Vision Laboratory, Embedded Vision Systems Group, AGH University of Science and Technology, Krakow, Poland"],"affiliations":[{"raw_affiliation_string":"Embedded Vision Systems Group, AGH University of Science and Technology,Computer Vision Laboratory,Department of Automatic Control and Robotics,Krakow,Poland","institution_ids":["https://openalex.org/I686019"]},{"raw_affiliation_string":"Department of Automatic Control and Robotics, Computer Vision Laboratory, Embedded Vision Systems Group, AGH University of Science and Technology, Krakow, Poland","institution_ids":["https://openalex.org/I686019"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005086061","display_name":"Tomasz Kryjak","orcid":"https://orcid.org/0000-0001-6798-4444"},"institutions":[{"id":"https://openalex.org/I686019","display_name":"AGH University of Krakow","ror":"https://ror.org/00bas1c41","country_code":"PL","type":"education","lineage":["https://openalex.org/I686019"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Tomasz Kryjak","raw_affiliation_strings":["Embedded Vision Systems Group, AGH University of Science and Technology,Computer Vision Laboratory,Department of Automatic Control and Robotics,Krakow,Poland","Department of Automatic Control and Robotics, Computer Vision Laboratory, Embedded Vision Systems Group, AGH University of Science and Technology, Krakow, Poland"],"affiliations":[{"raw_affiliation_string":"Embedded Vision Systems Group, AGH University of Science and Technology,Computer Vision Laboratory,Department of Automatic Control and Robotics,Krakow,Poland","institution_ids":["https://openalex.org/I686019"]},{"raw_affiliation_string":"Department of Automatic Control and Robotics, Computer Vision Laboratory, Embedded Vision Systems Group, AGH University of Science and Technology, Krakow, Poland","institution_ids":["https://openalex.org/I686019"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029094717"],"corresponding_institution_ids":["https://openalex.org/I686019"],"apc_list":null,"apc_paid":null,"fwci":0.74638927,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66476975,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"135","last_page":"140"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9998000264167786,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.9983999729156494,"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/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.8541797399520874},{"id":"https://openalex.org/keywords/python","display_name":"Python (programming language)","score":0.7250933051109314},{"id":"https://openalex.org/keywords/usb","display_name":"USB","score":0.7163498401641846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6954507827758789},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.6593794226646423},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.4747472405433655},{"id":"https://openalex.org/keywords/scripting-language","display_name":"Scripting language","score":0.4742514193058014},{"id":"https://openalex.org/keywords/system-on-a-chip","display_name":"System on a chip","score":0.44325020909309387},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33652693033218384},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.27862873673439026},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.24092474579811096}],"concepts":[{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.8541797399520874},{"id":"https://openalex.org/C519991488","wikidata":"https://www.wikidata.org/wiki/Q28865","display_name":"Python (programming language)","level":2,"score":0.7250933051109314},{"id":"https://openalex.org/C507366226","wikidata":"https://www.wikidata.org/wiki/Q42378","display_name":"USB","level":3,"score":0.7163498401641846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6954507827758789},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.6593794226646423},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.4747472405433655},{"id":"https://openalex.org/C61423126","wikidata":"https://www.wikidata.org/wiki/Q187432","display_name":"Scripting language","level":2,"score":0.4742514193058014},{"id":"https://openalex.org/C118021083","wikidata":"https://www.wikidata.org/wiki/Q610398","display_name":"System on a chip","level":2,"score":0.44325020909309387},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33652693033218384},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.27862873673439026},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.24092474579811096}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/spa53010.2022.9927847","is_oa":false,"landing_page_url":"https://doi.org/10.23919/spa53010.2022.9927847","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Signal Processing: Algorithms, Architectures, Arrangements, and Applications (SPA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5006570393","display_name":null,"funder_award_id":"16.16.120.773","funder_id":"https://openalex.org/F4320324664","funder_display_name":"Akademia G\u00f3rniczo-Hutnicza im. Stanislawa Staszica"}],"funders":[{"id":"https://openalex.org/F4320324664","display_name":"Akademia G\u00f3rniczo-Hutnicza im. Stanislawa Staszica","ror":"https://ror.org/00bas1c41"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1973221602","https://openalex.org/W2343356634","https://openalex.org/W2615547864","https://openalex.org/W2784328584","https://openalex.org/W2996830606","https://openalex.org/W3019145999","https://openalex.org/W3089931846","https://openalex.org/W3156089158","https://openalex.org/W3201272818","https://openalex.org/W6737769214","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W3023169329","https://openalex.org/W4389470870","https://openalex.org/W2782165897","https://openalex.org/W1582950852","https://openalex.org/W4300438041","https://openalex.org/W2054104202","https://openalex.org/W2139703748","https://openalex.org/W2761254753","https://openalex.org/W1024825291","https://openalex.org/W2188981919"],"abstract_inverted_index":{"This":[0,85],"paper":[1],"presents":[2],"a":[3,18,29,38,52,62,70,88],"system":[4,105],"for":[5,58,152],"hardware-in-the-loop":[6],"(HiL)":[7],"simulation":[8],"of":[9,119,146],"unmanned":[10],"aerial":[11],"vehicle":[12],"(UAV)":[13],"control":[14,150],"algorithms":[15,151],"implemented":[16,79,154],"on":[17,28,61,80,155,163,171,178],"heterogeneous":[19],"SoC":[20,40,83],"FPGA":[21],"computing":[22],"platforms.":[23,157],"The":[24,122],"AirSim":[25],"simulator":[26],"running":[27,170,177],"PC":[30,173],"and":[31,108,130,149,174],"an":[32],"Arty":[33,179],"Z7":[34],"development":[35],"board":[36],"with":[37],"Zynq":[39,82],"chip":[41],"from":[42],"AMD":[43],"Xilinx":[44],"were":[45],"used.":[46],"Communication":[47],"was":[48,67,78],"carried":[49],"out":[50],"via":[51],"serial":[53],"USB":[54],"link.":[55],"An":[56],"application":[57],"autonomous":[59],"landing":[60,65,74],"specially":[63],"marked":[64],"strip":[66],"selected":[68],"as":[69],"case":[71],"study.":[72],"A":[73],"site":[75],"detection":[76],"algorithm":[77],"the":[81,104,117,120,135,160,172],"platform.":[84],"allowed":[86],"processing":[87],"1280":[89],"\u00d7":[90],"720":[91],"@":[92],"60":[93],"fps":[94],"video":[95],"stream":[96],"in":[97],"real":[98],"time.":[99],"Performed":[100],"tests":[101],"showed":[102],"that":[103,113],"works":[106],"correctly":[107],"there":[109],"are":[110],"no":[111],"delays":[112],"could":[114],"negatively":[115],"affect":[116],"stability":[118],"control.":[121],"proposed":[123],"concept":[124],"is":[125],"characterised":[126],"by":[127],"relative":[128],"simplicity":[129],"low":[131],"implementation":[132],"cost.":[133],"At":[134],"same":[136],"time,":[137],"it":[138],"can":[139],"be":[140],"applied":[141],"to":[142],"test":[143],"various":[144],"types":[145],"high-level":[147],"perception":[148],"UAV":[153],"embedded":[156],"We":[158],"provide":[159],"code":[161,176],"developed":[162],"GitHub,":[164],"which":[165],"includes":[166],"both":[167],"Python":[168],"scripts":[169],"C":[175],"Z7.":[180]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}