Pseudo-Random UAV Test Generation Using Low-Fidelity Path Simulator

Anas Shrinah; Kerstin I Eder

doi:10.48550/arXiv.2503.24172

Pseudo-Random UAV Test Generation Using Low-Fidelity Path Simulator

Anas Shrinah, Kerstin I Eder

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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Abstract

Simulation-based testing provides a safe and cost-effective environment for verifying the safety of Uncrewed Aerial Vehicles (UAVs). However, simulation can be resource-consuming, especially when High-Fidelity Simulators (HFS) are used. To optimise simulation resources, we propose a pseudo-random test generator that uses a Low-Fidelity Simulator (LFS) to estimate UAV flight paths. This work simplifies the PX4 autopilot HFS to develop a LFS, which operates one order of magnitude faster than the HFS. Test cases predicted to cause safety violations in the LFS are subsequently validated using the HFS.

Original language	English
Title of host publication	2025 IEEE/ACM International Workshop on Search-Based and Fuzz Testing (SBFT)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	51-52
Number of pages	2
ISBN (Electronic)	9798331525897
ISBN (Print)	9798331525903
DOIs	https://doi.org/10.48550/arXiv.2503.24172 https://doi.org/10.1109/SBFT66712.2025.00019
Publication status	Published - 23 Oct 2025
Event	Intl. Workshop on Search-Based and Fuzz Testing - Ottawa, Canada Duration: 27 Apr 2025 → 3 May 2025 Conference number: The 18th https://sbft25.github.io/

Workshop

Workshop	Intl. Workshop on Search-Based and Fuzz Testing
Abbreviated title	SBFT
Country/Territory	Canada
City	Ottawa
Period	27/04/25 → 3/05/25
Internet address	https://sbft25.github.io/

Keywords

cs.RO

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This is the accepted author manuscript (AAM) of the article which has been made Open Access under the University of Bristol's Scholarly Works Policy. The final published version (Version of Record) can be found on the publisher's website. The copyright of any third-party content, such as images, remains with the copyright holder.
Accepted author manuscript, 93.2 KBLicence: CC BY

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@inproceedings{ccef9e8592bd4264b0cda78d8526a56d,

title = "Pseudo-Random UAV Test Generation Using Low-Fidelity Path Simulator",

abstract = "Simulation-based testing provides a safe and cost-effective environment for verifying the safety of Uncrewed Aerial Vehicles (UAVs). However, simulation can be resource-consuming, especially when High-Fidelity Simulators (HFS) are used. To optimise simulation resources, we propose a pseudo-random test generator that uses a Low-Fidelity Simulator (LFS) to estimate UAV flight paths. This work simplifies the PX4 autopilot HFS to develop a LFS, which operates one order of magnitude faster than the HFS. Test cases predicted to cause safety violations in the LFS are subsequently validated using the HFS. ",

keywords = "cs.RO",

author = "Anas Shrinah and Eder, \{Kerstin I\}",

year = "2025",

month = oct,

day = "23",

doi = "10.48550/arXiv.2503.24172",

language = "English",

isbn = "9798331525903",

pages = "51--52",

booktitle = "2025 IEEE/ACM International Workshop on Search-Based and Fuzz Testing (SBFT)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "Intl. Workshop on Search-Based and Fuzz Testing, SBFT ; Conference date: 27-04-2025 Through 03-05-2025",

url = "https://sbft25.github.io/",

}

Shrinah, A & Eder, KI 2025, Pseudo-Random UAV Test Generation Using Low-Fidelity Path Simulator. in 2025 IEEE/ACM International Workshop on Search-Based and Fuzz Testing (SBFT). Institute of Electrical and Electronics Engineers (IEEE), pp. 51-52, Intl. Workshop on Search-Based and Fuzz Testing, Ottawa, Canada, 27/04/25. https://doi.org/10.48550/arXiv.2503.24172, https://doi.org/10.1109/SBFT66712.2025.00019

TY - GEN

T1 - Pseudo-Random UAV Test Generation Using Low-Fidelity Path Simulator

AU - Shrinah, Anas

AU - Eder, Kerstin I

N1 - Conference code: The 18th

PY - 2025/10/23

Y1 - 2025/10/23

N2 - Simulation-based testing provides a safe and cost-effective environment for verifying the safety of Uncrewed Aerial Vehicles (UAVs). However, simulation can be resource-consuming, especially when High-Fidelity Simulators (HFS) are used. To optimise simulation resources, we propose a pseudo-random test generator that uses a Low-Fidelity Simulator (LFS) to estimate UAV flight paths. This work simplifies the PX4 autopilot HFS to develop a LFS, which operates one order of magnitude faster than the HFS. Test cases predicted to cause safety violations in the LFS are subsequently validated using the HFS.

AB - Simulation-based testing provides a safe and cost-effective environment for verifying the safety of Uncrewed Aerial Vehicles (UAVs). However, simulation can be resource-consuming, especially when High-Fidelity Simulators (HFS) are used. To optimise simulation resources, we propose a pseudo-random test generator that uses a Low-Fidelity Simulator (LFS) to estimate UAV flight paths. This work simplifies the PX4 autopilot HFS to develop a LFS, which operates one order of magnitude faster than the HFS. Test cases predicted to cause safety violations in the LFS are subsequently validated using the HFS.

KW - cs.RO

UR - https://sbft25.github.io/

U2 - 10.48550/arXiv.2503.24172

DO - 10.48550/arXiv.2503.24172

M3 - Conference Contribution (Conference Proceeding)

SN - 9798331525903

SP - 51

EP - 52

BT - 2025 IEEE/ACM International Workshop on Search-Based and Fuzz Testing (SBFT)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - Intl. Workshop on Search-Based and Fuzz Testing

Y2 - 27 April 2025 through 3 May 2025

ER -

Pseudo-Random UAV Test Generation Using Low-Fidelity Path Simulator

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