相关论文: Metamorphic Testing in Autonomous System Simulatio…

This paper presents an automated tool called Morphy for datamorphic testing. It classifies software test artefacts into test entities and test morphisms, which are mappings on testing entities. In addition to datamorphisms, metamorphisms…

Due to the ever-increasing complexity of income tax laws in the United States, the number of US taxpayers filing their taxes using tax preparation software (henceforth, tax software) continues to increase. According to the U.S. Internal…

Simulation frameworks are essential for the safe development of robotic applications. However, different components of a robotic system are often best simulated in different environments, making full integration challenging. This is…

With widespread applications of artificial intelligence (AI), the capabilities of the perception, understanding, decision-making and control for autonomous systems have improved significantly in the past years. When autonomous systems…

Autonomous drone racing has gained attention for its potential to push the boundaries of drone navigation technologies. While much of the existing research focuses on racing in obstacle-free environments, few studies have addressed the…

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…

A test oracle determines whether a system behaves correctly for a given input. Automatic testing techniques rely on an automated test oracle to test the system without user interaction. Important families of automated test oracles include…

This paper evaluates the use of metamorphic relations to enhance the robustness and real-world performance of machine learning models. We propose a Metamorphic Retraining Framework, which applies metamorphic relations to data and utilizes…

Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Metamorphic testing (MT) is a general approach for the testing of a specific kind of software systems -- so-called ``non-testable'', where the ``classical'' testing approaches are difficult to apply. MT is an effective approach for…

Autonomous cars are well known for being vulnerable to adversarial attacks that can compromise the safety of the car and pose danger to other road users. To effectively defend against adversaries, it is required to not only test autonomous…

As REST APIs become an increasingly significant part of software systems, their validation is becoming more critical. Hence, testing and uncovering underlying issues are of utmost importance for improving software quality. However, testing…

Modern-day autonomous vehicles are increasingly becoming complex multidisciplinary systems composed of mechanical, electrical, electronic, computing and information sub-systems. Furthermore, the individual constituent technologies employed…

Multiple domains like vision, natural language, and audio are witnessing tremendous progress by leveraging Transformers for large scale pre-training followed by task specific fine tuning. In contrast, in robotics we primarily train a single…

Autonomous Driving Systems (ADSs) are complex Cyber-Physical Systems (CPSs) that must ensure safety even in uncertain conditions. Modern ADSs often employ Deep Neural Networks (DNNs), which may not produce correct results in every possible…

Context: Predicting human trajectories is crucial for the safety and reliability of autonomous systems, such as automated vehicles and mobile robots. However, rigorously testing the underlying multimodal Human Trajectory Prediction (HTP)…

This research paper delves into the field of autonomous vehicle technology, examining the vulnerabilities inherent in each component of these transformative vehicles. Autonomous vehicles (AVs) are revolutionizing transportation by…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

In dependently typed programming, proofs of basic, structural properties can be embedded implicitly into programs and do not need to be written explicitly. Besides saving the effort of writing separate proofs, a most distinguishing and…