A Framework for Autonomous UAV Swarm Behavior Simulation

Cybulski, Piotr

doi:10.15439/2019f278

Proceedings of the 2019 Federated Conference on Computer Science and Information Systems 2019

DOI: 10.15439/2019f278

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A Framework for Autonomous UAV Swarm Behavior Simulation

Piotr Cybulski

Abstract: In the last several years a large interest in the unmanned aerial vehicles (UAVs) has been seen. This is mostly due to an increase of computational power and decreasing cost of the UAVs itself. One of an intensively researched area is an application of a swarm behavior within team of such UAVs. Simulation tools are one of the means with which quality of solutions in this matter can be measured. In this paper such simulation framework is proposed. The proposed framework is capable of taking under consideration … Show more

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2023

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Cited by 1 publication

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Testing, Validation, and Verification of Robotic and Autonomous Systems: A Systematic Review

Araujo

Mousavi

Varshosaz

2023

ACM Trans. Softw. Eng. Methodol.

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We perform a systematic literature review on testing, validation, and verification of robotic and autonomous systems (RAS). The scope of this review covers peer-reviewed research papers proposing, improving or evaluating testing techniques, process, or tools that address the system-level qualities of RAS. Our survey is performed based on a rigorous methodology structured in three phases. First, we made use of a set of 26 seed papers (selected by domain experts) and the SERP-TEST taxonomy to design our search query and (domain-specific) taxonomy. Second, we conducted a search in three academic search engines and applied our inclusion and exclusion criteria to the results. Respectively, we made use of related work and domain specialists (50 academics and 15 industry experts) to validate and refine the search query. As a result, we encountered 10,735 studies, out of which, 195 were included, reviewed and coded. Our objective is to answer four research questions, pertaining to (1) the type of models, (2) measures for system performance and testing adequacy, (3) tools and their availability, and (4) evidence of applicability, particularly in industrial contexts. We analyse the results of our coding to identify strengths and gaps in the domain and present recommendations to researchers and practitioners. Our findings show that variants of temporal logics are most widely used for modelling requirements and properties, while variants of state-machines and transition systems are used widely for modelling system behaviour. Other common models concern epistemic logics for specifying requirements and belief-desire-intention models for specifying system behaviour. Apart from time and epistemics, other aspects captured in models concern probabilities (e.g., for modelling uncertainty) and continuous trajectories (e.g., for modelling vehicle dynamics and kinematics). Many papers lack any rigorous measure of efficiency, effectiveness, or adequacy for their proposed techniques, processes, or tools. Among those that provide a measure of efficiency, effectiveness, or adequacy the majority use domain-agnostic generic measures such as number of failures, size of state-space or verification time were most used. There is a trend in addressing the research gap in this respect by developing domain-specific notions of performance and adequacy. Defining widely-accepted rigorous measures of performance and adequacy for each domain is an identified research gap. In terms of tools, the most widely used tools are well-established model-checkers such as Prism and Uppaal, as well as simulation tools such as Gazebo; Matlab/Simulink is another widely used toolset in this domain. Overall there is very limited evidence of industrial applicability in the papers published in this domain. There is even a gap considering consolidated benchmarks for various types of autonomous systems.

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Testing, Validation, and Verification of Robotic and Autonomous Systems: A Systematic Review

Araujo

Mousavi

Varshosaz

2023

ACM Trans. Softw. Eng. Methodol.

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show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

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A Framework for Autonomous UAV Swarm Behavior Simulation

Cited by 1 publication

References 13 publications

Testing, Validation, and Verification of Robotic and Autonomous Systems: A Systematic Review

Testing, Validation, and Verification of Robotic and Autonomous Systems: A Systematic Review

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