Related papers: Single and Multi-objective Test Cases Prioritizati…

The safety of autonomous vehicles (AV) has been a long-standing top concern, stemming from the absence of rare and safety-critical scenarios in the long-tail naturalistic driving distribution. To tackle this challenge, a surge of research…

Scenario-based testing is envisioned as a key approach for the safety assurance of autonomous vehicles. In scenario-based testing, relevant (driving) scenarios are the basis of tests. Many recent works focus on specification, variation,…

Reliable collision avoidance under extreme situations remains a critical challenge for autonomous vehicles. While large language models (LLMs) offer promising reasoning capabilities, their application in safety-critical evasive maneuvers is…

High-dimensional data is common in multiple areas, such as health care and genomics, where the number of features can be tens of thousands. In such scenarios, the large number of features often leads to inefficient learning. Constraint…

Autonomous driving vehicles (ADVs) are implemented with rich software functions and equipped with many sensors, which in turn brings broad attack surface. Moreover, the execution environment of ADVs is often open and complex. Hence, ADVs…

It is hard to test autonomous robot (AR) software because of the range and diversity of external situations (terrain, obstacles, humans, peer robots) that AR must deal with. Common measures of testing adequacy may not address this…

Context: During the development process of a software program, regression testing is used to ensure that the correct behavior of the software is retained after updates to the source code. This regression testing becomes costly over time as…

Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear…

Demand for high-performance, robust, and safe autonomous systems has grown substantially in recent years. These objectives motivate the desire for efficient safety-theoretic reasoning that can be embedded in core decision-making tasks such…

Generating safety-critical scenarios is essential for testing and verifying the safety of autonomous vehicles. Traditional optimization techniques suffer from the curse of dimensionality and limit the search space to fixed parameter spaces.…

Multi-vehicle pursuit (MVP) such as autonomous police vehicles pursuing suspects is important but very challenging due to its mission and safety critical nature. While multi-agent reinforcement learning (MARL) algorithms have been proposed…

Artificial intelligence (AI) features are increasingly being embedded in cars and are central to the operation of self-driving cars (SDC). There is little or no effort expended towards understanding and assessing the broad legal and…

Reference tracking and obstacle avoidance rank among the foremost challenging aspects of autonomous driving. This paper proposes control designs for solving reference tracking problems in autonomous driving tasks while considering static…

Virtual scenario-based testing methods to validate autonomous driving systems are predominantly centred around collision avoidance, and lack a comprehensive approach to evaluate optimal driving behaviour holistically. Furthermore, current…

The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…

Classification systems are often deployed in resource-constrained settings where labels must be assigned to inputs on a budget of time, memory, etc. Budgeted, sequential classifiers (BSCs) address these scenarios by processing inputs…

An oracle determines whether the output of a program for executed test cases is correct. For machine learning programs, such an oracle is often unavailable or impractical to apply. Metamorphic testing addresses this by using metamorphic…

Automated vehicles promise to enhance transportation safety and efficiency. However, ensuring their reliability in real-world conditions remains challenging, particularly due to rare and unexpected situations known as edge cases. While…

Scenario-based testing is a promising approach to solve the challenge of proving the safe behavior of vehicles equipped with automated driving systems. Since an infinite number of concrete scenarios can theoretically occur in real-world…

A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…