Assessing Scene Generation Techniques for Testing COLREGS-Compliance of Autonomous Surface Vehicles
Autonomous surface vehicles (ASVs) need to complete missions without posing risks to other maritime traffic. Safe traffic is controlled by the International Regulations for Preventing Collisions at Sea (COLREGS) formulated by the International Maritime Organization (IMO). Being designed with human operators in mind, the COLREGS are intentionally underspecified, which may result in ambiguous requirements for correct behaviour for ASVs. Hence the systematic testing of such ambiguous situations is particularly important. This paper presents a model-based test generation approach for automatically deriving initial scenes of complex sea encounters involving multiple vessels by a multi-step refinement approach. First, a diverse set of functional scenarios are derived automatically. Then, we provide a mapping from functional scenarios to logical scenarios that capture geometrical constraints between potentially unsafe ship encounters. Finally, initial scenes with precise vessel placements are generated from logical scenarios by search-based algorithms. Our extensive evaluation shows that our approach derives a diverse set of initial scenes with high risk levels within few minutes, even for six vessel encounters.
Thu 26 JunDisplayed time zone: Amsterdam, Berlin, Bern, Rome, Stockholm, Vienna change
14:00 - 15:15 | Extended Reality and Autonomous SystemsResearch Papers at Cosmos 3A Chair(s): Lingming Zhang University of Illinois at Urbana-Champaign | ||
14:00 25mTalk | Assessing Scene Generation Techniques for Testing COLREGS-Compliance of Autonomous Surface Vehicles Research Papers Dominik Frey Linköping University, Ulf Kargén Linköping University, Daniel Varro Linköping University / McGill University DOI | ||
14:25 25mTalk | Reinforcement Learning-based Fuzz Testing for the Gazebo Robotic Simulator Research Papers Zhilei Ren Dalian University of Technology, Yitao Li Dalian University of Technology, Xiaochen Li Dalian University of Technology, Guanxiao Qi Dalian University of Technology, Jifeng Xuan Wuhan University, He Jiang Dalian University of Technology DOI | ||
14:50 25mTalk | Extended Reality Cybersickness Assessment via User Review Analysis Research Papers Shuqing Li The Chinese University of Hong Kong, Qisheng Zheng Harbin Institute of Technology, Cuiyun Gao Harbin Institute of Technology, jiafeng Harbin Institute of Technology, Michael Lyu Chinese University of Hong Kong DOI | ||
Cosmos 3A is the first room in the Cosmos 3 wing.
When facing the main Cosmos Hall, access to the Cosmos 3 wing is on the left, close to the stairs. The area is accessed through a large door with the number “3”, which will stay open during the event.