World Model for Testing Autonomous Systems Using Petri Nets

Andrews, Anneliese; Abdelgawad, Mahmoud; Gario, Ahmed

doi:10.1109/hase.2016.11

Cited by 7 publications

(5 citation statements)

References 15 publications

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“…The approach is applied to a vacuum cleaner robot, using metaheuristic search techniques to generate abstract test data from the models. In [9], the structural model of entities is in UML and the dynamic part consists of Petri nets. The work of [10] defines several types of mid-air collision situations, and uses them to guide the evolutionary testing of a drone collision avoidance algorithm.…”

Section: Introductionmentioning

confidence: 99%

Virtual Worlds for Testing Robot Navigation: A Study on the Difficulty Level

Sotiropoulos

Guiochet

Ingrand

et al. 2016

2016 12th European Dependable Computing Conference (EDCC)

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The ability to navigate in diverse and previously unknown environments is a critical service of autonomous robots. We propose a test framework based on MORSE (Modular Open Robots Simulation Engine), and using the generation of virtual 3D worlds to challenge the navigation service. We elaborate on the notion of the difficulty of the generated worlds, which we characterize in terms of mission achievement, mission duration and trajectory curves. We experimentally study our ability to control the difficulty level by means of the generation parameters. We also assess the indeterminism of the navigation and how it evolves depending on the difficulty level. The experimental outcomes provide insights toward the definition of test strategies to further stress the navigation service.

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Section: Introductionmentioning

confidence: 99%

Virtual Worlds for Testing Robot Navigation: A Study on the Difficulty Level

Sotiropoulos

Guiochet

Ingrand

et al. 2016

2016 12th European Dependable Computing Conference (EDCC)

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“…Abbors et al [50] present an application of MBT in the telecommunication domain. Other approaches, such as the work of Andrews et al [51], are centered on robotics. Furthermore, safety-critical domains, such as health care [52] and aerospace [53], also use MBT.…”

Section: A Related Workmentioning

confidence: 99%

Survey of Model-Based Security Testing Approaches in the Automotive Domain

2023

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Modern connected or autonomous vehicles (AVs) are highly complex cyber-physical systems. As a result of the high number of different technologies and connectivity features involved, testing these systems to identify security vulnerabilities is a big challenge. Security testing techniques, such as penetration testing, are often manual methods that are applied comparatively late in the vehicle development process. Thus, vulnerabilities are only detected late or after development, leading to higher costs and more patching effort. To reduce the amount of testing resources in general and enable early and automated testing, modelbased testing methods have been established in several domains, such as information technology and the automotive domain. The transfer of model-based testing approaches to automotive security testing could help to detect vulnerabilities earlier than other, manual methods by automatically generating, executing, or simulating security tests. In this study, we review the literature on model-based test approaches in the automotive domain. First, we consider security-independent approaches to obtain an overview of applied models, formalisms, test selection criteria, and test generation techniques. In addition, we investigate, whether and how model-based approaches are applied for automotive security testing. Overall, we identified 63 publications related to model-based testing and 29 publications with regard to model-based security testing. The aim of this study is to provide an overview and direct comparison between these approaches. In this manner, the state of model-based security testing in the automotive domain, current challenges, and potential research areas are determined. INDEX TERMSAutomotive security, model-based testing, model-based security testing.

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“…Hence, prior knowledge of the dynamic model should be utilized properly for model-based controller design rather than totally discarded, as presented in literature. 34,35 M 0 ðqÞ is a positive definite symmetric matrix, which guarantees its invertibility. Let…”

Section: Problem Formulationmentioning

confidence: 99%

Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

Chen

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

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This article considers finite-time trajectory tracking control problem for robotic manipulators with parameter uncertainties and external disturbances. A finite-time controller that achieves high precision and strong robustness is proposed without the requirement of the exact dynamic model. First, a novel finite-time model-assisted extended state observer is designed to compensate the system uncertainties with complex and uncertain dynamics. Then, a composite finite-time controller is developed for trajectory tracking control with the help of finite-time model-assisted extended state observer. Compared to the classic extended state observer, it is proved that the estimation error of finite-time modelassisted extended state observer can be stabilized in finite time. Meanwhile, the finite-time convergence of the closed-loop system with the proposed controller can also be proved through Lyapunov's stability theory. A variable structure term is employed to compensate the estimation errors of finite-time model-assisted extended state observer. The validity of the control scheme is demonstrated by simulations and experiments.

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World Model for Testing Autonomous Systems Using Petri Nets

Cited by 7 publications

References 15 publications

Virtual Worlds for Testing Robot Navigation: A Study on the Difficulty Level

Virtual Worlds for Testing Robot Navigation: A Study on the Difficulty Level

Survey of Model-Based Security Testing Approaches in the Automotive Domain

Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

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