{"id":"https://openalex.org/W3126432375","doi":"https://doi.org/10.1109/memocode51338.2020.9315067","title":"Specification-guided Software Fault Localization for Autonomous Mobile Systems","display_name":"Specification-guided Software Fault Localization for Autonomous Mobile Systems","publication_year":2020,"publication_date":"2020-12-02","ids":{"openalex":"https://openalex.org/W3126432375","doi":"https://doi.org/10.1109/memocode51338.2020.9315067","mag":"3126432375"},"language":"en","primary_location":{"id":"doi:10.1109/memocode51338.2020.9315067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/memocode51338.2020.9315067","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 18th ACM-IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081703435","display_name":"Tomoya Yamaguchi","orcid":"https://orcid.org/0000-0003-0996-5725"},"institutions":[{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Tomoya Yamaguchi","raw_affiliation_strings":["Toyota Research Institute-North America, Ann Arbor, U.S"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute-North America, Ann Arbor, U.S","institution_ids":["https://openalex.org/I1293612202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044251694","display_name":"Bardh Hoxha","orcid":"https://orcid.org/0000-0001-6255-7566"},"institutions":[{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Bardh Hoxha","raw_affiliation_strings":["Toyota Research Institute-North America, Ann Arbor, U.S"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute-North America, Ann Arbor, U.S","institution_ids":["https://openalex.org/I1293612202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061971606","display_name":"Danil Prokhorov","orcid":"https://orcid.org/0000-0002-6208-4233"},"institutions":[{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Danil Prokhorov","raw_affiliation_strings":["Toyota Research Institute-North America, Ann Arbor, U.S"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute-North America, Ann Arbor, U.S","institution_ids":["https://openalex.org/I1293612202"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057473400","display_name":"Jyotirmoy V. Deshmukh","orcid":"https://orcid.org/0000-0003-4683-5540"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jyotirmoy V. Deshmukh","raw_affiliation_strings":["University of Southern California, Los Angeles, U.S"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, U.S","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9619,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78794227,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"20","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7166427373886108},{"id":"https://openalex.org/keywords/system-requirements-specification","display_name":"System requirements specification","score":0.5942238569259644},{"id":"https://openalex.org/keywords/formal-specification","display_name":"Formal specification","score":0.5795193910598755},{"id":"https://openalex.org/keywords/formal-verification","display_name":"Formal verification","score":0.47757580876350403},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47489824891090393},{"id":"https://openalex.org/keywords/formal-methods","display_name":"Formal methods","score":0.46897706389427185},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.4681829512119293},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4670499861240387},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4503799378871918},{"id":"https://openalex.org/keywords/software-requirements-specification","display_name":"Software requirements specification","score":0.4387549161911011},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4321506917476654},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4299837350845337},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3863719701766968},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.3700779676437378},{"id":"https://openalex.org/keywords/software-system","display_name":"Software system","score":0.36442625522613525},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3566203713417053},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3552618622779846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30723726749420166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22751843929290771},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.2145046591758728},{"id":"https://openalex.org/keywords/software-construction","display_name":"Software construction","score":0.09724503755569458}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7166427373886108},{"id":"https://openalex.org/C84651959","wikidata":"https://www.wikidata.org/wiki/Q17052506","display_name":"System requirements specification","level":2,"score":0.5942238569259644},{"id":"https://openalex.org/C116253237","wikidata":"https://www.wikidata.org/wiki/Q1437424","display_name":"Formal specification","level":2,"score":0.5795193910598755},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.47757580876350403},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47489824891090393},{"id":"https://openalex.org/C75606506","wikidata":"https://www.wikidata.org/wiki/Q1049183","display_name":"Formal methods","level":2,"score":0.46897706389427185},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.4681829512119293},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4670499861240387},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4503799378871918},{"id":"https://openalex.org/C102780508","wikidata":"https://www.wikidata.org/wiki/Q1761598","display_name":"Software requirements specification","level":5,"score":0.4387549161911011},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4321506917476654},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4299837350845337},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3863719701766968},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.3700779676437378},{"id":"https://openalex.org/C149091818","wikidata":"https://www.wikidata.org/wiki/Q2429814","display_name":"Software system","level":3,"score":0.36442625522613525},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3566203713417053},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3552618622779846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30723726749420166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22751843929290771},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2145046591758728},{"id":"https://openalex.org/C186846655","wikidata":"https://www.wikidata.org/wiki/Q3398377","display_name":"Software construction","level":4,"score":0.09724503755569458},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/memocode51338.2020.9315067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/memocode51338.2020.9315067","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 18th ACM-IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6700000166893005}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W102190310","https://openalex.org/W654262640","https://openalex.org/W1483893502","https://openalex.org/W1509254601","https://openalex.org/W1510918931","https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W1957911494","https://openalex.org/W2013655083","https://openalex.org/W2014824949","https://openalex.org/W2033455284","https://openalex.org/W2101819268","https://openalex.org/W2112192223","https://openalex.org/W2117211893","https://openalex.org/W2121806728","https://openalex.org/W2163605009","https://openalex.org/W2187041056","https://openalex.org/W2240585996","https://openalex.org/W2261332958","https://openalex.org/W2293761843","https://openalex.org/W2312067050","https://openalex.org/W2341219289","https://openalex.org/W2343875716","https://openalex.org/W2406067508","https://openalex.org/W2477231637","https://openalex.org/W2487779201","https://openalex.org/W2505763307","https://openalex.org/W2514195504","https://openalex.org/W2549790574","https://openalex.org/W2556282465","https://openalex.org/W2559854331","https://openalex.org/W2578353233","https://openalex.org/W2587114527","https://openalex.org/W2601434987","https://openalex.org/W2785700716","https://openalex.org/W2792781634","https://openalex.org/W2796327418","https://openalex.org/W2901136733","https://openalex.org/W2914283047","https://openalex.org/W2944759097","https://openalex.org/W2946458591","https://openalex.org/W2947311533","https://openalex.org/W2956034981","https://openalex.org/W2963636762","https://openalex.org/W2963650758","https://openalex.org/W2969350273","https://openalex.org/W2977713273","https://openalex.org/W2978342210","https://openalex.org/W3092268398","https://openalex.org/W3100743289","https://openalex.org/W3168224710","https://openalex.org/W4233503810","https://openalex.org/W4239884176","https://openalex.org/W4388475847","https://openalex.org/W6621588707","https://openalex.org/W6641298166","https://openalex.org/W6684191040","https://openalex.org/W6689856497","https://openalex.org/W6730294168","https://openalex.org/W6732516247","https://openalex.org/W6748367044","https://openalex.org/W6756486208","https://openalex.org/W6757683393"],"related_works":["https://openalex.org/W12544170","https://openalex.org/W1614812","https://openalex.org/W4274063","https://openalex.org/W14345461","https://openalex.org/W14149410","https://openalex.org/W10818194","https://openalex.org/W9389450","https://openalex.org/W10718265","https://openalex.org/W1549567","https://openalex.org/W2158100"],"abstract_inverted_index":{"Verification":[0],"and":[1,17,54,64,87,95,135,149],"validation":[2],"are":[3,121],"vital":[4],"steps":[5],"in":[6,72,140],"the":[7,28,133,155,176],"development":[8],"process":[9],"of":[10,30,92,127],"autonomous":[11,73,109,141],"systems":[12,74,111,142],"such":[13,143,159],"as":[14,20,144],"mobile":[15,110],"robots":[16],"self-driving":[18],"vehicles,":[19],"they":[21],"allow":[22],"reasoning":[23,44],"about":[24,45],"system":[25,46],"safety.":[26],"In":[27,57],"domain":[29],"cyber-physical":[31],"systems,":[32],"techniques":[33,49],"using":[34],"formal":[35,83,129],"requirements":[36,66,84],"have":[37],"been":[38],"show":[39,61],"to":[40],"enable":[41,69],"rigorous":[42],"mathematical":[43],"safety":[47],"through":[48],"for":[50,108,116,137,146,158],"automatic":[51],"test":[52],"generation":[53],"performance":[55],"analysis.":[56],"this":[58,101],"paper,":[59],"we":[60,103,162],"that":[62,75,174,179],"system-level":[63,134],"subsystem-level":[65,136],"can":[67],"also":[68],"fault":[70,166],"localization":[71,167],"use":[76],"heterogeneous":[77],"functional":[78],"components.":[79,160],"However,":[80],"writing":[81],"correct":[82],"is":[85],"challenging":[86],"requires":[88],"a":[89,105,125,164,181],"significant":[90],"investment":[91],"time,":[93],"effort":[94],"most":[96],"importantly,":[97],"expertise.":[98],"To":[99],"address":[100],"issue,":[102],"propose":[104],"specification":[106,152],"library":[107,126],"called":[112],"TLAM":[113],"(Temporal":[114],"Logic":[115],"Autonomous":[117],"Mobility).":[118],"Our":[119],"contributions":[120],"twofold:":[122],"We":[123],"provide":[124],"parametric":[128,172],"specifications":[130,173],"at":[131],"both":[132],"typical":[138],"subsystems":[139],"those":[145],"perception,":[147],"planning":[148],"decision-making.":[150],"The":[151],"parameters":[153],"encode":[154],"design":[156],"trade-offs":[157],"Second,":[161],"introduce":[163],"new":[165],"technique":[168],"based":[169],"on":[170],"these":[171],"identifies":[175],"likeliest":[177],"subsystem":[178],"has":[180],"fault.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}