{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T10:37:20Z","timestamp":1777631840814,"version":"3.51.4"},"publisher-location":"New York, NY, USA","reference-count":62,"publisher":"ACM","license":[{"start":{"date-parts":[[2021,8,18]],"date-time":"2021-08-18T00:00:00Z","timestamp":1629244800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2021,8,20]]},"DOI":"10.1145\/3468264.3468559","type":"proceedings-article","created":{"date-parts":[[2021,8,19]],"date-time":"2021-08-19T01:40:03Z","timestamp":1629337203000},"page":"20-31","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":55,"title":["An exploratory study of autopilot software bugs in unmanned aerial vehicles"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1707-8149","authenticated-orcid":false,"given":"Dinghua","family":"Wang","sequence":"first","affiliation":[{"name":"University of Technology Sydney, Australia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6323-1402","authenticated-orcid":false,"given":"Shuqing","family":"Li","sequence":"additional","affiliation":[{"name":"Southern University of Science and Technology, China"}]},{"given":"Guanping","family":"Xiao","sequence":"additional","affiliation":[{"name":"Nanjing University of Aeronautics and Astronautics, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8147-8126","authenticated-orcid":false,"given":"Yepang","family":"Liu","sequence":"additional","affiliation":[{"name":"Southern University of Science and Technology, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9510-6574","authenticated-orcid":false,"given":"Yulei","family":"Sui","sequence":"additional","affiliation":[{"name":"University of Technology Sydney, Australia"}]}],"member":"320","published-online":{"date-parts":[[2021,8,18]]},"reference":[{"key":"e_1_3_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/PESGM.2014.6939262"},{"key":"e_1_3_2_1_2_1","volume-title":"Mining Energy-Related Practices in Robotics Software. CoRR, abs\/2103.13762","author":"Albonico Michel","year":"2021","unstructured":"Michel Albonico , Ivano Malavolta , Gustavo Pinto , Emitza Guzman , Katerina Chinnappan , and Patricia Lago . 2021. Mining Energy-Related Practices in Robotics Software. CoRR, abs\/2103.13762 ( 2021 ), arxiv:2103.13762. arxiv:2103.13762 Michel Albonico, Ivano Malavolta, Gustavo Pinto, Emitza Guzman, Katerina Chinnappan, and Patricia Lago. 2021. Mining Energy-Related Practices in Robotics Software. CoRR, abs\/2103.13762 (2021), arxiv:2103.13762. arxiv:2103.13762"},{"key":"e_1_3_2_1_3_1","unstructured":"Ardupilot.org. 2020. Homepage of Ardupilot. https:\/\/ardupilot.org  Ardupilot.org. 2020. Homepage of Ardupilot. https:\/\/ardupilot.org"},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2014.2372785"},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/1328279.1328284"},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/1453101.1453146"},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/1524839915580941"},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-35813-5_1"},{"key":"e_1_3_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSRE5003.2020.00010"},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.micpro.2018.05.002"},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/3377813.3381364"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2011.93"},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/3377811.3380397"},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2015.2436920"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2011.6083936"},{"key":"e_1_3_2_1_16_1","unstructured":"GitHub.com. 2020. Issue 4745 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/4745  GitHub.com. 2020. Issue 4745 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/4745"},{"key":"e_1_3_2_1_17_1","unstructured":"GitHub.com. 2020. Issue 5035 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/5305  GitHub.com. 2020. Issue 5035 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/5305"},{"key":"e_1_3_2_1_18_1","unstructured":"GitHub.com. 2020. Issue 5110 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/5110  GitHub.com. 2020. Issue 5110 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/5110"},{"key":"e_1_3_2_1_19_1","unstructured":"GitHub.com. 2020. Issue 5243 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/5243  GitHub.com. 2020. Issue 5243 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/5243"},{"key":"e_1_3_2_1_20_1","unstructured":"GitHub.com. 2020. Issue 6444 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/6444  GitHub.com. 2020. Issue 6444 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/6444"},{"key":"e_1_3_2_1_21_1","unstructured":"GitHub.com. 2020. Issue 6651 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/6651  GitHub.com. 2020. Issue 6651 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/6651"},{"key":"e_1_3_2_1_22_1","unstructured":"GitHub.com. 2020. Issue 6669 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/6669  GitHub.com. 2020. Issue 6669 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/6669"},{"key":"e_1_3_2_1_23_1","unstructured":"GitHub.com. 2020. Issue 7079 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/7097  GitHub.com. 2020. Issue 7079 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/7097"},{"key":"e_1_3_2_1_24_1","unstructured":"GitHub.com. 2020. Issue 7535 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/7535  GitHub.com. 2020. Issue 7535 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/7535"},{"key":"e_1_3_2_1_25_1","unstructured":"GitHub.com. 2020. Issue 7737 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/7737  GitHub.com. 2020. Issue 7737 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/7737"},{"key":"e_1_3_2_1_26_1","unstructured":"GitHub.com. 2020. Issue 7746 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/7746  GitHub.com. 2020. Issue 7746 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/7746"},{"key":"e_1_3_2_1_27_1","unstructured":"GitHub.com. 2020. Issue 8186 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/8186  GitHub.com. 2020. Issue 8186 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/8186"},{"key":"e_1_3_2_1_28_1","unstructured":"GitHub.com. 2020. Issue 8189 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/8189  GitHub.com. 2020. Issue 8189 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/8189"},{"key":"e_1_3_2_1_29_1","unstructured":"GitHub.com. 2020. Issue 8628 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/8628  GitHub.com. 2020. Issue 8628 of project PX4. https:\/\/github.com\/PX4\/Firmware\/issues\/8628"},{"key":"e_1_3_2_1_30_1","unstructured":"GitHub.com. 2020. Pull Request 11208 of project Ardupilot. https:\/\/github.com\/ArduPilot\/ardupilot\/pull\/11208  GitHub.com. 2020. Pull Request 11208 of project Ardupilot. https:\/\/github.com\/ArduPilot\/ardupilot\/pull\/11208"},{"key":"e_1_3_2_1_31_1","unstructured":"Gautier Hattenberger Murat Bronz and Michel Gorraz. 2014. Using the paparazzi UAV system for scientific research.  Gautier Hattenberger Murat Bronz and Michel Gorraz. 2014. Using the paparazzi UAV system for scientific research."},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE.2019.00029"},{"key":"e_1_3_2_1_33_1","unstructured":"Lydia M. Hilton. 2017. Personal Injury and Property Damage with Drones. https:\/\/www.bfvlaw.com\/personal-injury-and-property-damage-with-drones\/  Lydia M. Hilton. 2017. Personal Injury and Property Damage with Drones. https:\/\/www.bfvlaw.com\/personal-injury-and-property-damage-with-drones\/"},{"key":"e_1_3_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/2499370.2462167"},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/1101908.1101949"},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/DSN.2014.28"},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISORC.2008.25"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.scico.2004.01.010"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSRE5003.2020.00025"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140074"},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1145\/3338906.3338920"},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2019.2910750"},{"key":"e_1_3_2_1_43_1","unstructured":"PX4.io. 2020. Airframe Reference in the User Guide of PX4. https:\/\/docs.px4.io\/master\/en\/airframes\/airframe_reference.html  PX4.io. 2020. Airframe Reference in the User Guide of PX4. https:\/\/docs.px4.io\/master\/en\/airframes\/airframe_reference.html"},{"key":"e_1_3_2_1_44_1","unstructured":"PX4.io. 2020. Flight Modes in the User Guide of PX4. https:\/\/dev.px4.io\/v1.9.0\/en\/concept\/flight_modes.html  PX4.io. 2020. Flight Modes in the User Guide of PX4. https:\/\/dev.px4.io\/v1.9.0\/en\/concept\/flight_modes.html"},{"key":"e_1_3_2_1_45_1","unstructured":"PX4.io. 2020. Parameter Reference in the User Guide of PX4. https:\/\/docs.px4.io\/master\/zh\/advanced\/parameter_reference.html  PX4.io. 2020. Parameter Reference in the User Guide of PX4. https:\/\/docs.px4.io\/master\/zh\/advanced\/parameter_reference.html"},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/TR.2019.2933324"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/1837274.1837461"},{"key":"e_1_3_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/FIE.2010.5673378"},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/98.943998"},{"key":"e_1_3_2_1_50_1","volume-title":"Digital pressure sensor. May 7th","author":"Sensortec Bosch","unstructured":"Bosch Sensortec . 2015. Digital pressure sensor. May 7th . Bosch Sensortec. 2015. Digital pressure sensor. May 7th."},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1109\/QRS.2017.25"},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10664-013-9258-8"},{"key":"e_1_3_2_1_53_1","unstructured":"PX4 Dev Team. 2017. Open Source for Drones-PX4 Pro Open Source Autopilot.  PX4 Dev Team. 2017. Open Source for Drones-PX4 Pro Open Source Autopilot."},{"key":"e_1_3_2_1_54_1","unstructured":"N VANITHA and G PADMAVATHI. [n.d.]. Enhanced Security Mechanisms for the Selected Cyber Attacks in UAV Networks.  N VANITHA and G PADMAVATHI. [n.d.]. Enhanced Security Mechanisms for the Selected Cyber Attacks in UAV Networks."},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/329124.329126"},{"key":"e_1_3_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2016.2521368"},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/TR.2019.2916204"},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1007\/11785477_23"},{"key":"e_1_3_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-015-5300-3"},{"key":"e_1_3_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1145\/1368088.1368116"},{"key":"e_1_3_2_1_61_1","doi-asserted-by":"publisher","DOI":"10.1145\/3213846.3213866"},{"key":"e_1_3_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/SEsCPS.2015.11"}],"event":{"name":"ESEC\/FSE '21: 29th ACM Joint European Software Engineering Conference and Symposium on the Foundations of Software Engineering","location":"Athens Greece","acronym":"ESEC\/FSE '21","sponsor":["SIGSOFT ACM Special Interest Group on Software Engineering"]},"container-title":["Proceedings of the 29th ACM Joint Meeting on European Software Engineering Conference and Symposium on the Foundations of Software Engineering"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3468264.3468559","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3468264.3468559","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T21:24:50Z","timestamp":1750195490000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3468264.3468559"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,8,18]]},"references-count":62,"alternative-id":["10.1145\/3468264.3468559","10.1145\/3468264"],"URL":"https:\/\/doi.org\/10.1145\/3468264.3468559","relation":{},"subject":[],"published":{"date-parts":[[2021,8,18]]},"assertion":[{"value":"2021-08-18","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}