{"id":"https://openalex.org/W7135215995","doi":"https://doi.org/10.1145/3801740","title":"Falsification of Autonomous Systems in Rich Environments","display_name":"Falsification of Autonomous Systems in Rich Environments","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7135215995","doi":"https://doi.org/10.1145/3801740"},"language":"en","primary_location":{"id":"doi:10.1145/3801740","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3801740","pdf_url":null,"source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1145/3801740","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012407295","display_name":"Khen Elimelech","orcid":"https://orcid.org/0000-0003-1391-8956"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Khen Elimelech","raw_affiliation_strings":["King\u2019s College London, London, UK"],"raw_orcid":"https://orcid.org/0000-0003-1391-8956","affiliations":[{"raw_affiliation_string":"King\u2019s College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129019727","display_name":"Morteza Lahijanian","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Morteza Lahijanian","raw_affiliation_strings":["University of Colorado Boulder, Boulder, Colorado, USA"],"raw_orcid":"https://orcid.org/0000-0001-7549-4365","affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, Colorado, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Rice University, Houston, Texas, USA"],"raw_orcid":"https://orcid.org/0000-0003-0699-8038","affiliations":[{"raw_affiliation_string":"Rice University, Houston, Texas, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5128965430","display_name":"Moshe Y. Vardi","orcid":null},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Moshe Y. Vardi","raw_affiliation_strings":["Rice University, Houston, Texas, USA"],"raw_orcid":"https://orcid.org/0000-0002-0661-5773","affiliations":[{"raw_affiliation_string":"Rice University, Houston, Texas, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012407295"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37239873,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"3","first_page":"1","last_page":"32"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.930899977684021,"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":0.930899977684021,"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":0.016100000590085983,"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/T10142","display_name":"Formal Methods in Verification","score":0.013299999758601189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5223000049591064},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45329999923706055},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4075999855995178},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.39969998598098755},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.37400001287460327},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.37220001220703125},{"id":"https://openalex.org/keywords/autonomous-system","display_name":"Autonomous system (mathematics)","score":0.3531000018119812},{"id":"https://openalex.org/keywords/model-checking","display_name":"Model checking","score":0.31529998779296875}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.667900025844574},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5223000049591064},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45329999923706055},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4075999855995178},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.39969998598098755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3747999966144562},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37400001287460327},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.37220001220703125},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.3531000018119812},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2872999906539917},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.26989999413490295},{"id":"https://openalex.org/C46304622","wikidata":"https://www.wikidata.org/wiki/Q374814","display_name":"Certification","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2549999952316284},{"id":"https://openalex.org/C47822265","wikidata":"https://www.wikidata.org/wiki/Q854457","display_name":"Complex system","level":2,"score":0.2524999976158142},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.2506999969482422},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3801740","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3801740","pdf_url":null,"source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3801740","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3801740","pdf_url":null,"source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6076712012290955}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1968254796","https://openalex.org/W2002548850","https://openalex.org/W2023808162","https://openalex.org/W2026629052","https://openalex.org/W2049399166","https://openalex.org/W2085838366","https://openalex.org/W2093227835","https://openalex.org/W2116364955","https://openalex.org/W2132990760","https://openalex.org/W2162593244","https://openalex.org/W2172184261","https://openalex.org/W2437886417","https://openalex.org/W2604247018","https://openalex.org/W2604347212","https://openalex.org/W2759950027","https://openalex.org/W3113369941","https://openalex.org/W3152878473","https://openalex.org/W3184406940","https://openalex.org/W3185643228","https://openalex.org/W3206558114","https://openalex.org/W4210496774","https://openalex.org/W4283212640","https://openalex.org/W4288391571"],"related_works":[],"abstract_inverted_index":{"Validating":[0],"the":[1,48,75,103,111,130,175,184,188,201,226,233,262,290],"behavior":[2],"of":[3,19,70,77,105,183,190,316],"autonomous":[4,144,319],"Cyber-Physical":[5],"Systems":[6],"(CPS)":[7],"and":[8,33,45,199,228,249,296],"AI":[9],"agents,":[10],"which":[11,166,197,238],"rely":[12,80],"on":[13,81,225,232,293,314],"automated":[14,68],"controllers,":[15],"is":[16,100,108,133,239],"an":[17,311,317],"objective":[18],"great":[20,31,62,126],"importance.":[21],"In":[22],"recent":[23],"years,":[24],"Neural-Network":[25],"(NN)":[26],"controllers":[27,40],"have":[28],"been":[29,65],"demonstrating":[30],"promise":[32],"experiencing":[34],"tremendous":[35],"popularity.":[36],"Unfortunately,":[37],"such":[38],"learned":[39],"are":[41,154],"often":[42,121],"not":[43],"certified":[44],"can":[46,273,283,297],"cause":[47],"system":[49,83,90],"to":[50,67,85,109,115,123,174,217,261,288],"suffer":[51],"from":[52],"unpredictable":[53],"or":[54,236],"unsafe":[55],"behavior.":[56],"To":[57],"mitigate":[58],"this":[59,206],"issue,":[60],"a":[61,87,94,117,125,139,180,192,195,242,322],"effort":[63,113,252],"has":[64],"dedicated":[66],"verification":[69],"systems.":[71],"Specifically,":[72],"works":[73],"in":[74,150,157,160,212],"category":[76],"\u201cblack-box":[78],"testing\u201d":[79],"repeated":[82],"simulations":[84,99],"find":[86],"falsifying":[88,118],"counterexample\u2014a":[89],"run":[91],"that":[92],"violates":[93],"specification.":[95],"As":[96],"running":[97],"high-fidelity":[98],"computationally":[101],"demanding,":[102],"goal":[104],"falsification":[106,141,185,315],"approaches":[107],"minimize":[110],"simulation":[112],"needed":[114],"return":[116],"example.":[119],"This":[120,136,209,271],"proves":[122],"be":[124,274],"challenge,":[127],"especially":[128,155],"when":[129],"tested":[131],"controller":[132],"well":[134],"trained.":[135],"work":[137,299],"contributes":[138],"novel":[140,181],"approach":[142,178,210],"for":[143,194,253],"systems":[145],"under":[146],"formal":[147],"specification":[148],"operating":[149,159],"uncertain":[151],"environments.":[152],"We":[153,306],"interested":[156],"CPS":[158],"rich,":[161],"semantically":[162],"defined,":[163],"open":[164],"environments,":[165],"yield":[167],"high-dimensional,":[168],"simulation-dependent":[169],"sensor":[170],"observations":[171],"as":[172,187,241],"inputs":[173],"controller.":[176],"Our":[177],"introduces":[179],"reformulation":[182],"problem":[186,189],"planning":[191],"trajectory":[193,264],"\u201cmeta-system,\u201d":[196],"wraps":[198],"encapsulates":[200],"examined":[202],"system;":[203],"we":[204],"call":[205],"approach:":[207],"meta-planning.":[208],"results":[211],"testing":[213],"fewer":[214],"inputs,":[215],"compared":[216],"serial":[218],"input":[219],"sampling,":[220],"while":[221],"making":[222],"minimal":[223],"assumptions":[224],"system,":[227],"posing":[229],"no":[230,301],"limitation":[231],"specification,":[234],"environment,":[235],"controller,":[237,324],"treated":[240],"black-box.":[243],"It":[244],"also":[245],"avoids":[246],"redundant":[247],"calculations":[248],"requires":[250],"less":[251],"each":[254,266],"test,":[255],"by":[256],"invoking":[257],"only":[258],"incremental":[259],"updates":[260],"autonomous-system\u2019s":[263],"at":[265,304],"iteration,":[267],"using":[268],"partial":[269],"simulations.":[270],"formulation":[272],"solved":[275],"with":[276,300,310,321],"standard":[277],"sampling-based":[278],"motion-planning":[279],"techniques":[280],"(like":[281],"RRT),":[282],"gradually":[284],"integrate":[285],"domain":[286,302],"knowledge":[287,303],"improve":[289],"search,":[291],"based":[292],"its":[294],"availability,":[295],"even":[298],"all.":[305],"support":[307],"these":[308],"ideas":[309],"experimental":[312],"study":[313],"obstacle-avoiding":[318],"car":[320],"NN":[323],"where":[325],"meta-planning":[326],"demonstrates":[327],"superior":[328],"performance":[329],"over":[330],"alternative":[331],"approaches.":[332]},"counts_by_year":[],"updated_date":"2026-05-30T06:14:24.967023","created_date":"2026-03-14T00:00:00"}
