{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T23:12:05Z","timestamp":1778973125821,"version":"3.51.4"},"reference-count":94,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2019,1,1]],"date-time":"2019-01-01T00:00:00Z","timestamp":1546300800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"Robotics and Internet of Things Laboratory, Prince Sultan University"},{"DOI":"10.13039\/501100004024","name":"Jinan University","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004024","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2019]]},"DOI":"10.1109\/access.2019.2924410","type":"journal-article","created":{"date-parts":[[2019,6,21]],"date-time":"2019-06-21T19:50:40Z","timestamp":1561146640000},"page":"87658-87680","source":"Crossref","is-referenced-by-count":267,"title":["Micro Air Vehicle Link (MAVlink) in a Nutshell: A Survey"],"prefix":"10.1109","volume":"7","author":[{"given":"Anis","family":"Koubaa","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3780-6019","authenticated-orcid":false,"given":"Azza","family":"Allouch","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maram","family":"Alajlan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yasir","family":"Javed","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Abdelfettah","family":"Belghith","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6311-3588","authenticated-orcid":false,"given":"Mohamed","family":"Khalgui","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-70836-2_23"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2018.04.025"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-94580-4_33"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1145\/3125649.3125653"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2017.07.005"},{"key":"ref77","year":"2018","journal-title":"QGroundControl Open source MAV ground control station"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1016\/j.trpro.2018.12.006"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/MILCOM.2017.8170858"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-56994-9_8"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2017.7991465"},{"key":"ref78","author":"planner","year":"2019","journal-title":"Ground Control Station for APM(Ardupilotmega)"},{"key":"ref79","year":"2014","journal-title":"APM Planner 2"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOM.2016.7841878"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-015-0284-1"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/VLSI-SoC.2017.8203494"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.2514\/6.2012-2438"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2017.2681698"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2600370"},{"key":"ref35","first-page":"1","article-title":"Generic and autonomous system for airborne networks Cyber-threat detection","author":"casals","year":"2013","journal-title":"Proc IEEE\/AIAA 32nd Digit Avionics Syst Conf (DASC)"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1177\/1548512915617252"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2018.10.001"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0969-3"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2018.06.009"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2017.12.007"},{"key":"ref28","article-title":"Security models and exploitations in theory and practice for unmanned aerial vehicles","author":"verup","year":"2016"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-74781-1_28"},{"key":"ref27","article-title":"Unmanned aerial vehicles: A survey on civil applications and key research challenges","author":"shakhatreh","year":"2018"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2018.07.063"},{"key":"ref66","first-page":"679","author":"schill","year":"2018","journal-title":"Vertex A New Distributed Underwater Robotic Platform for Environmental Monitoring"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2013.2265083"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.3103\/S1068798X18090150"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2018.10.016"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-70833-1_15"},{"key":"ref2","author":"team","year":"2019","journal-title":"Paparazzi UAV"},{"key":"ref1","author":"team","year":"2019","journal-title":"ArduPilot\/APM"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICSTM.2015.7225390"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-78816-6_9"},{"key":"ref21","first-page":"73","article-title":"Development of light weight algorithms in a customized communication protocol for micro air vehicles","volume":"1","author":"hamsavahini","year":"2016","journal-title":"International Journal of Latest Research in Engineering and Technology"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICNSurv.2013.6548628"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2017.1700390"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-10-1627-1_51"},{"key":"ref25","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1145\/3001836","article-title":"Security, privacy, and safety aspects of civilian drones: A survey","volume":"1","author":"altawy","year":"2017","journal-title":"ACM Trans Cyber-Physical Systems"},{"key":"ref50","first-page":"123","article-title":"Communication and autonomous control of multi-UAV system in disaster response tasks","author":"aljehani","year":"2017","journal-title":"Agent and Multi-Agent Systems Tech and App"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2018.09.013"},{"key":"ref94","author":"babushkin","year":"2019","journal-title":"jMAVSim"},{"key":"ref93","first-page":"404","article-title":"Profiling underwater swarm robotic shoaling performance using simulation","author":"read","year":"2013","journal-title":"Proc Conf Towards Autonom Robot Syst"},{"key":"ref92","year":"2014","journal-title":"Robot simulation made easy"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389727"},{"key":"ref90","author":"eikanger","year":"2017","journal-title":"The path to autonomous inspection using an unmanned aerial vehicle-the development of a simulator framework and navigation tools"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.15439\/2017F184"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ICISCT.2017.8188563"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2018.03.002"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-02931-9_20"},{"key":"ref55","first-page":"14","article-title":"STANAG 4586&#x2014;Standard interfaces of UAV control system (UCS) for NATO UAV interoperability","author":"marques","year":"2012","journal-title":"Proc NATO Standardization Agency Afeite Portugal"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANSE.2017.8084866"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-54978-1_96"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-60867-9_8"},{"key":"ref10","year":"2019","journal-title":"MAVLink Common Message Set Specifications"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2863237"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/RED-UAS.2017.8101648"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-27668-7_11"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IRC.2017.56"},{"key":"ref14","first-page":"33","article-title":"Keynote talk i: Building a high-assurance unpiloted air vehicle","author":"pike","year":"2013","journal-title":"Proc 7th ACM\/IEEE Int'l Conf Formal Methods and Models for Codesign"},{"key":"ref15","article-title":"sMAVLink request for comments","author":"lorenz meier","year":"2014"},{"key":"ref82","year":"2019","journal-title":"Ugcs PC Mission Planning"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2017.7991460"},{"key":"ref81","year":"2014","journal-title":"Droidplanner 2"},{"key":"ref17","doi-asserted-by":"crossref","DOI":"10.31979\/etd.un7n-43r8","article-title":"Authentication and encryption of aerial robotics communication","author":"han","year":"2017"},{"key":"ref84","first-page":"1","article-title":"The flightgear flight simulator","author":"perry","year":"2004","journal-title":"Proc USENIX Annu Tech Conf"},{"key":"ref18","author":"marty","year":"2013","journal-title":"Vulnerability Analysis of the MAVLink Protocol for Command and Control of Unmanned Aircraft"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/IWCMC.2018.8450505"},{"key":"ref19","author":"butcher","year":"2013","journal-title":"Securing the MAVLink communication protocol for unmanned aircraft systems"},{"key":"ref80","year":"2019","journal-title":"MAVProxy"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-67361-5_40"},{"key":"ref4","author":"tea","year":"2019","journal-title":"Pixhawk Web Page"},{"key":"ref3","year":"2019","journal-title":"Autopilot&#x2014;Hangar"},{"key":"ref6","author":"balasubramanian","year":"2015","journal-title":"MAVLink Tutorial for Absolute Dummies (part-I)"},{"key":"ref5","year":"2019","journal-title":"MultiWii"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/ICIEA.2017.8282877"},{"key":"ref8","article-title":"MAVLink 2.0 packet signing proposal","author":"andrew tridgell","year":"2015"},{"key":"ref86","article-title":"Sim4CV: A Photo-realistic simulator for computer vision applications","author":"m\u00fceller","year":"2017"},{"key":"ref7","year":"2019","journal-title":"Ardupilot Telemetry Devices"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2017.11.012"},{"key":"ref87","author":"meyer","year":"2019","journal-title":"X-Plane"},{"key":"ref88","first-page":"393","author":"garcia","year":"2010","journal-title":"Multi-UAV Simulator Utilizing X-Plane"},{"key":"ref9","author":"meier","year":"2012","journal-title":"MAVLink Micro Air Vehicle Communication Protocol"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2018.11.010"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.5220\/0006408500250034"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2016.11.119"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ICARSC.2016.64"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ICC.2019.8761372"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1145\/3139923.3139932"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.5121\/csit.2018.81708"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/NOMS.2016.7502939"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/8600701\/08743355.pdf?arnumber=8743355","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,8,10]],"date-time":"2021-08-10T19:40:38Z","timestamp":1628624438000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8743355\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019]]},"references-count":94,"URL":"https:\/\/doi.org\/10.1109\/access.2019.2924410","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019]]}}}