{"id":"https://openalex.org/W4200428450","doi":"https://doi.org/10.3390/fi13120317","title":"FlockAI: A Testing Suite for ML-Driven Drone Applications","display_name":"FlockAI: A Testing Suite for ML-Driven Drone Applications","publication_year":2021,"publication_date":"2021-12-16","ids":{"openalex":"https://openalex.org/W4200428450","doi":"https://doi.org/10.3390/fi13120317"},"language":"en","primary_location":{"id":"doi:10.3390/fi13120317","is_oa":true,"landing_page_url":"https://doi.org/10.3390/fi13120317","pdf_url":"https://www.mdpi.com/1999-5903/13/12/317/pdf?version=1639963652","source":{"id":"https://openalex.org/S34838331","display_name":"Future Internet","issn_l":"1999-5903","issn":["1999-5903"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Future Internet","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-5903/13/12/317/pdf?version=1639963652","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051307185","display_name":"Demetris Trihinas","orcid":"https://orcid.org/0000-0002-9540-7342"},"institutions":[{"id":"https://openalex.org/I17389662","display_name":"University of Nicosia","ror":"https://ror.org/04v18t651","country_code":"CY","type":"education","lineage":["https://openalex.org/I17389662"]}],"countries":["CY"],"is_corresponding":true,"raw_author_name":"Demetris Trihinas","raw_affiliation_strings":["Department of Computer Science, School of Sciences and Engineering, University of Nicosia, Nicosia CY-2417, Cyprus"],"raw_orcid":"https://orcid.org/0000-0002-9540-7342","affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Sciences and Engineering, University of Nicosia, Nicosia CY-2417, Cyprus","institution_ids":["https://openalex.org/I17389662"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102885257","display_name":"Michalis Agathocleous","orcid":"https://orcid.org/0000-0003-3557-0196"},"institutions":[{"id":"https://openalex.org/I17389662","display_name":"University of Nicosia","ror":"https://ror.org/04v18t651","country_code":"CY","type":"education","lineage":["https://openalex.org/I17389662"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Michalis Agathocleous","raw_affiliation_strings":["Department of Computer Science, School of Sciences and Engineering, University of Nicosia, Nicosia CY-2417, Cyprus"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Sciences and Engineering, University of Nicosia, Nicosia CY-2417, Cyprus","institution_ids":["https://openalex.org/I17389662"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059817489","display_name":"Karlen Avogian","orcid":null},"institutions":[{"id":"https://openalex.org/I17389662","display_name":"University of Nicosia","ror":"https://ror.org/04v18t651","country_code":"CY","type":"education","lineage":["https://openalex.org/I17389662"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Karlen Avogian","raw_affiliation_strings":["Department of Computer Science, School of Sciences and Engineering, University of Nicosia, Nicosia CY-2417, Cyprus"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Sciences and Engineering, University of Nicosia, Nicosia CY-2417, Cyprus","institution_ids":["https://openalex.org/I17389662"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061323069","display_name":"Ioannis Katakis","orcid":"https://orcid.org/0000-0001-5283-9965"},"institutions":[{"id":"https://openalex.org/I17389662","display_name":"University of Nicosia","ror":"https://ror.org/04v18t651","country_code":"CY","type":"education","lineage":["https://openalex.org/I17389662"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Ioannis Katakis","raw_affiliation_strings":["Department of Computer Science, School of Sciences and Engineering, University of Nicosia, Nicosia CY-2417, Cyprus"],"raw_orcid":"https://orcid.org/0000-0001-5283-9965","affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Sciences and Engineering, University of Nicosia, Nicosia CY-2417, Cyprus","institution_ids":["https://openalex.org/I17389662"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5051307185"],"corresponding_institution_ids":["https://openalex.org/I17389662"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":8.615,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.97099819,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"13","issue":"12","first_page":"317","last_page":"317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9980000257492065,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9955999851226807,"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/drone","display_name":"Drone","score":0.91877681016922},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8622468709945679},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7341643571853638},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6955957412719727},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6181762218475342},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5885958671569824},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.5706585049629211},{"id":"https://openalex.org/keywords/proof-of-concept","display_name":"Proof of concept","score":0.4869631230831146},{"id":"https://openalex.org/keywords/performance-indicator","display_name":"Performance indicator","score":0.4847364127635956},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.47162485122680664},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.460201233625412},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.432280570268631},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.423397034406662},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3931772708892822},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3142874836921692},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.21242457628250122},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1675875186920166}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.91877681016922},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8622468709945679},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7341643571853638},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6955957412719727},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6181762218475342},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5885958671569824},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.5706585049629211},{"id":"https://openalex.org/C124978682","wikidata":"https://www.wikidata.org/wiki/Q1201019","display_name":"Proof of concept","level":2,"score":0.4869631230831146},{"id":"https://openalex.org/C135510737","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance indicator","level":2,"score":0.4847364127635956},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.47162485122680664},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.460201233625412},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.432280570268631},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.423397034406662},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3931772708892822},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3142874836921692},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.21242457628250122},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1675875186920166},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/fi13120317","is_oa":true,"landing_page_url":"https://doi.org/10.3390/fi13120317","pdf_url":"https://www.mdpi.com/1999-5903/13/12/317/pdf?version=1639963652","source":{"id":"https://openalex.org/S34838331","display_name":"Future Internet","issn_l":"1999-5903","issn":["1999-5903"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Future Internet","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:gam:jftint:v:13:y:2021:i:12:p:317-:d:704433","is_oa":false,"landing_page_url":"https://www.mdpi.com/1999-5903/13/12/317/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:d824a59317a64a24a67668742d4cac4d","is_oa":true,"landing_page_url":"https://doaj.org/article/d824a59317a64a24a67668742d4cac4d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Future Internet, Vol 13, Iss 12, p 317 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1999-5903/13/12/317/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/fi13120317","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Future Internet; Volume 13; Issue 12; Pages: 317","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/fi13120317","is_oa":true,"landing_page_url":"https://doi.org/10.3390/fi13120317","pdf_url":"https://www.mdpi.com/1999-5903/13/12/317/pdf?version=1639963652","source":{"id":"https://openalex.org/S34838331","display_name":"Future Internet","issn_l":"1999-5903","issn":["1999-5903"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Future Internet","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4200428450.pdf"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1675286134","https://openalex.org/W2343686254","https://openalex.org/W2461414758","https://openalex.org/W2465948386","https://openalex.org/W2615547864","https://openalex.org/W2621934564","https://openalex.org/W2766224648","https://openalex.org/W2768508481","https://openalex.org/W2771518414","https://openalex.org/W2790698126","https://openalex.org/W2797523789","https://openalex.org/W2799617236","https://openalex.org/W2884236119","https://openalex.org/W2897895275","https://openalex.org/W2907963738","https://openalex.org/W2931293404","https://openalex.org/W2937742196","https://openalex.org/W2962804513","https://openalex.org/W2968678044","https://openalex.org/W2973141528","https://openalex.org/W2976792973","https://openalex.org/W3013728001","https://openalex.org/W3029515189","https://openalex.org/W3036766693","https://openalex.org/W3041246526","https://openalex.org/W3046394364","https://openalex.org/W3077668761","https://openalex.org/W3080585449","https://openalex.org/W3082280594","https://openalex.org/W3130390537","https://openalex.org/W3160193765","https://openalex.org/W3215252790","https://openalex.org/W6718832576","https://openalex.org/W6746178488","https://openalex.org/W6760668069"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W4229448053","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W4247925126"],"abstract_inverted_index":{"Machine":[0],"Learning":[1],"(ML)":[2],"is":[3,42,59],"now":[4,66],"becoming":[5],"a":[6,60,84,193],"key":[7,95],"driver":[8],"empowering":[9],"the":[10,53,75,80,90,103,106,136,167,178,183],"next":[11],"generation":[12],"of":[13,55,72,79,86,105,138,173,186],"drone":[14,37,140,175],"technology":[15],"and":[16,31,77,109,121,147,158,170,201],"extending":[17,49],"its":[18],"reach":[19],"to":[20,51,68,92,144],"applications":[21,141,176],"never":[22],"envisioned":[23],"before.":[24],"Examples":[25],"include":[26,52],"precision":[27],"agriculture,":[28],"crowd":[29],"detection,":[30],"even":[32],"aerial":[33],"supply":[34],"transportation.":[35],"Testing":[36],"projects":[38],"before":[39],"actual":[40],"deployment":[41,169],"usually":[43],"performed":[44],"via":[45],"robotic":[46],"simulators.":[47],"However,":[48],"testing":[50,172,188],"assessment":[54],"on-board":[56],"ML":[57,63,107,126,164,199],"algorithms":[58,200],"daunting":[61],"task.":[62],"practitioners":[64,127,165],"are":[65,128],"required":[67],"dedicate":[69],"vast":[70],"amounts":[71],"time":[73],"for":[74,203],"development":[76],"configuration":[78],"benchmarking":[81],"infrastructure":[82],"through":[83],"mixture":[85],"use-cases":[87],"coded":[88],"over":[89,177],"simulator":[91],"evaluate":[93],"various":[94],"performance":[96],"indicators.":[97],"These":[98],"indicators":[99],"extend":[100],"well":[101],"beyond":[102],"accuracy":[104],"algorithm":[108],"must":[110],"capture":[111],"drone-relevant":[112],"data":[113],"including":[114],"flight":[115],"performance,":[116],"resource":[117],"utilization,":[118],"communication":[119],"overhead":[120],"energy":[122],"consumption.":[123],"As":[124],"most":[125],"not":[129],"accustomed":[130],"with":[131,166,189],"all":[132],"these":[133],"demanding":[134],"requirements,":[135],"evaluation":[137],"ML-driven":[139,174],"can":[142],"lead":[143],"sub-optimal,":[145],"costly,":[146],"error-prone":[148],"deployments.":[149],"In":[150],"this":[151],"article":[152],"we":[153,191],"introduce":[154,192],"FlockAI,":[155,190],"an":[156,208],"open":[157],"modular":[159],"by":[160],"design":[161],"framework":[162],"supporting":[163],"rapid":[168,187],"repeatable":[171],"Webots":[179],"simulator.":[180],"To":[181],"show":[182],"wide":[184],"applicability":[185],"proof-of-concept":[194],"use-case":[195],"encompassing":[196],"different":[197],"scenarios,":[198],"KPIs":[202],"pinpointing":[204],"crowded":[205],"areas":[206],"in":[207],"urban":[209],"environment.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}