{"id":"https://openalex.org/W4385656568","doi":"https://doi.org/10.1109/tse.2023.3301443","title":"DeepManeuver: Adversarial Test Generation for Trajectory Manipulation of Autonomous Vehicles","display_name":"DeepManeuver: Adversarial Test Generation for Trajectory Manipulation of Autonomous Vehicles","publication_year":2023,"publication_date":"2023-08-08","ids":{"openalex":"https://openalex.org/W4385656568","doi":"https://doi.org/10.1109/tse.2023.3301443"},"language":"en","primary_location":{"id":"doi:10.1109/tse.2023.3301443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tse.2023.3301443","pdf_url":null,"source":{"id":"https://openalex.org/S8351582","display_name":"IEEE Transactions on Software Engineering","issn_l":"0098-5589","issn":["0098-5589","1939-3520","2326-3881"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Software Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/8284708","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037671969","display_name":"Meriel von Stein","orcid":"https://orcid.org/0000-0003-4641-4199"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Meriel von Stein","raw_affiliation_strings":["University of Virginia, Charlottesville, VA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4641-4199","affiliations":[{"raw_affiliation_string":"University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077966714","display_name":"David Shriver","orcid":"https://orcid.org/0000-0003-0208-6517"},"institutions":[{"id":"https://openalex.org/I114772536","display_name":"Software Engineering Institute","ror":"https://ror.org/01xqjjn94","country_code":"US","type":"facility","lineage":["https://openalex.org/I114772536","https://openalex.org/I74973139"]},{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Shriver","raw_affiliation_strings":["University of Virginia, Charlottesville, VA, USA","AI Division, Software Engineering Institute, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0208-6517","affiliations":[{"raw_affiliation_string":"University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"AI Division, Software Engineering Institute, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I114772536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025318877","display_name":"Sebastian Elbaum","orcid":"https://orcid.org/0000-0001-9592-1352"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Elbaum","raw_affiliation_strings":["University of Virginia, Charlottesville, VA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9592-1352","affiliations":[{"raw_affiliation_string":"University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037671969"],"corresponding_institution_ids":["https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":2.4996,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.91317949,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"49","issue":"10","first_page":"4496","last_page":"4509"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9787999987602234,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9645000100135803,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8186964988708496},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7567259073257446},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.7358442544937134},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.6570178866386414},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5224612951278687},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4715043604373932},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.45139193534851074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33381935954093933},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32556283473968506},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.164280503988266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10611569881439209},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1008482277393341},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09211260080337524}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8186964988708496},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7567259073257446},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.7358442544937134},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.6570178866386414},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5224612951278687},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4715043604373932},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.45139193534851074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33381935954093933},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32556283473968506},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.164280503988266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10611569881439209},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1008482277393341},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09211260080337524},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tse.2023.3301443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tse.2023.3301443","pdf_url":null,"source":{"id":"https://openalex.org/S8351582","display_name":"IEEE Transactions on Software Engineering","issn_l":"0098-5589","issn":["0098-5589","1939-3520","2326-3881"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Software Engineering","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:8284708","is_oa":true,"landing_page_url":"https://zenodo.org/record/8284708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:8284708","is_oa":true,"landing_page_url":"https://zenodo.org/record/8284708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1154073153","display_name":null,"funder_award_id":"1924777","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7650607359","display_name":null,"funder_award_id":"FA9550-21-1-0164","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G8416229585","display_name":null,"funder_award_id":"2312487","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W1945616565","https://openalex.org/W2115579991","https://openalex.org/W2222460899","https://openalex.org/W2324595780","https://openalex.org/W2342840547","https://openalex.org/W2483814582","https://openalex.org/W2543927648","https://openalex.org/W2608726595","https://openalex.org/W2775678306","https://openalex.org/W2859484040","https://openalex.org/W2888307014","https://openalex.org/W2888483609","https://openalex.org/W2888824816","https://openalex.org/W2891056855","https://openalex.org/W2899463469","https://openalex.org/W2903075639","https://openalex.org/W2917321477","https://openalex.org/W2952402617","https://openalex.org/W2954629067","https://openalex.org/W2954996726","https://openalex.org/W2957066083","https://openalex.org/W2957905354","https://openalex.org/W2962700793","https://openalex.org/W2962702177","https://openalex.org/W2963327228","https://openalex.org/W2963857521","https://openalex.org/W2963913218","https://openalex.org/W2965333252","https://openalex.org/W2969033227","https://openalex.org/W2982138961","https://openalex.org/W2990972766","https://openalex.org/W2991005916","https://openalex.org/W2995858837","https://openalex.org/W2997484060","https://openalex.org/W3003676953","https://openalex.org/W3007157104","https://openalex.org/W3013786243","https://openalex.org/W3035447895","https://openalex.org/W3035524670","https://openalex.org/W3036286896","https://openalex.org/W3047745496","https://openalex.org/W3048116582","https://openalex.org/W3090423701","https://openalex.org/W3090608524","https://openalex.org/W3090763579","https://openalex.org/W3098394944","https://openalex.org/W3103158293","https://openalex.org/W3115741658","https://openalex.org/W3127647470","https://openalex.org/W3130354627","https://openalex.org/W3163879210","https://openalex.org/W4284705139","https://openalex.org/W4313563892","https://openalex.org/W6640425456","https://openalex.org/W6704559304","https://openalex.org/W6722063826","https://openalex.org/W6756633189","https://openalex.org/W6790960657"],"related_works":["https://openalex.org/W2502115930","https://openalex.org/W4246396837","https://openalex.org/W2482350142","https://openalex.org/W3176240006","https://openalex.org/W3126451824","https://openalex.org/W1561927205","https://openalex.org/W3191453585","https://openalex.org/W2145006118","https://openalex.org/W2062829680","https://openalex.org/W2516638161"],"abstract_inverted_index":{"Adversarial":[0],"test":[1,88],"generation":[2,89],"techniques":[3,196],"aim":[4],"to":[5,13,56,174,187,212],"produce":[6],"input":[7],"perturbations":[8,29,55,109,186],"that":[9,51,77,85,121,143,161,182],"cause":[10],"a":[11,22,101,172,176,217],"DNN":[12,71],"compute":[14],"incorrect":[15],"outputs.":[16],"For":[17],"autonomous":[18,60],"vehicles":[19],"driven":[20],"by":[21,32,129,197],"DNN,":[23],"however,":[24],"the":[25,36,66,70,97,105,116,119,125,130,134,137,144],"effect":[26,135],"of":[27,35,107,118,136,164,221],"such":[28],"are":[30,39],"attenuated":[31],"other":[33],"parts":[34],"system":[37],"and":[38,72,150,155,192],"less":[40],"effective":[41,58],"as":[42,96],"vehicle":[43,73,91,98,120,165,210],"state":[44,117,146,166],"evolves.":[45],"In":[46],"this":[47],"work":[48],"we":[49,79],"argue":[50],"for":[52,65,113],"adversarial":[53,87],"testing":[54],"be":[57],"on":[59,76,139,201],"vehicles,":[61],"they":[62],"must":[63],"account":[64,112],"subtle":[67],"interplay":[68],"between":[69],"states.":[74],"Building":[75],"insight,":[78],"develop":[80],"DeepManeuver,":[81],"an":[82],"automated":[83],"framework":[84],"interleaves":[86],"with":[90,216],"trajectory":[92,152],"physics":[93],"simulation.":[94],"Thus,":[95],"moves":[99],"along":[100],"trajectory,":[102],"DeepManeuver":[103,183],"enables":[104],"refinement":[106],"candidate":[108],"to:":[110],"(1)":[111],"changes":[114],"in":[115,158,171],"may":[122],"affect":[123],"how":[124],"perturbation":[126,138],"is":[127,147,153],"perceived":[128],"system;":[131],"(2)":[132],"retain":[133],"previous":[140],"states":[141],"so":[142],"current":[145],"still":[148],"reachable":[149],"past":[151],"preserved;":[154],"(3)":[156],"result":[157],"multi-target":[159,214],"maneuvers":[160,189,215],"require":[162],"fulfillment":[163],"sequences":[167],"(e.g.":[168],"reaching":[169],"locations":[170],"road":[173],"navigate":[175],"tight":[177],"turn).":[178],"Our":[179],"assessment":[180],"reveals":[181],"can":[184],"generate":[185],"force":[188],"more":[190],"effectively":[191],"consistently":[193],"than":[194],"state-of-the-art":[195],"20.7":[198],"percentage":[199],"points":[200],"average.":[202],"We":[203],"also":[204],"show":[205],"DeepManeuver's":[206],"effectiveness":[207],"at":[208],"disrupting":[209],"behavior":[211],"achieve":[213],"minimum":[218],"52%":[219],"rate":[220],"success.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-18T08:16:58.900851","created_date":"2025-10-10T00:00:00"}