{"id":"https://openalex.org/W4363672451","doi":"https://doi.org/10.3389/fcomp.2023.1125055","title":"Toward resilient autonomous driving\u2014An experience report on integrating resilience mechanisms into the Apollo autonomous driving software stack","display_name":"Toward resilient autonomous driving\u2014An experience report on integrating resilience mechanisms into the Apollo autonomous driving software stack","publication_year":2023,"publication_date":"2023-04-11","ids":{"openalex":"https://openalex.org/W4363672451","doi":"https://doi.org/10.3389/fcomp.2023.1125055"},"language":"en","primary_location":{"id":"doi:10.3389/fcomp.2023.1125055","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fcomp.2023.1125055","pdf_url":"https://www.frontiersin.org/articles/10.3389/fcomp.2023.1125055/pdf","source":{"id":"https://openalex.org/S4210211086","display_name":"Frontiers in Computer Science","issn_l":"2624-9898","issn":["2624-9898"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Computer Science","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/fcomp.2023.1125055/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064149718","display_name":"Federico Lucchetti","orcid":"https://orcid.org/0000-0001-9778-8460"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":true,"raw_author_name":"Federico Lucchetti","raw_affiliation_strings":["Critical and Extreme Security and Dependability Group (CritiX), Interdisciplinary Centre for Security Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Critical and Extreme Security and Dependability Group (CritiX), Interdisciplinary Centre for Security Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002296717","display_name":"Rafa\u0142 Graczyk","orcid":"https://orcid.org/0000-0003-4570-3431"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Rafal Graczyk","raw_affiliation_strings":["Critical and Extreme Security and Dependability Group (CritiX), Interdisciplinary Centre for Security Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Critical and Extreme Security and Dependability Group (CritiX), Interdisciplinary Centre for Security Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005578675","display_name":"Marcus V\u00f6lp","orcid":"https://orcid.org/0000-0002-8020-4446"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Marcus V\u00f6lp","raw_affiliation_strings":["Critical and Extreme Security and Dependability Group (CritiX), Interdisciplinary Centre for Security Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Critical and Extreme Security and Dependability Group (CritiX), Interdisciplinary Centre for Security Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5064149718"],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":{"value":1285,"currency":"USD","value_usd":1285},"apc_paid":{"value":1285,"currency":"USD","value_usd":1285},"fwci":0.4228,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67197855,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":"5","issue":null,"first_page":null,"last_page":null},"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/T10645","display_name":"Cardiac Arrest and Resuscitation","score":0.9778000116348267,"subfield":{"id":"https://openalex.org/subfields/2711","display_name":"Emergency Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11005","display_name":"Radiation Effects in Electronics","score":0.9564999938011169,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.6515846252441406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6052017211914062},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.49511590600013733},{"id":"https://openalex.org/keywords/vulnerability","display_name":"Vulnerability (computing)","score":0.4778701663017273},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.4727048873901367},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.46791699528694153},{"id":"https://openalex.org/keywords/scada","display_name":"SCADA","score":0.44761449098587036},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41574251651763916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3190150856971741},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20904755592346191}],"concepts":[{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.6515846252441406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6052017211914062},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.49511590600013733},{"id":"https://openalex.org/C95713431","wikidata":"https://www.wikidata.org/wiki/Q631425","display_name":"Vulnerability (computing)","level":2,"score":0.4778701663017273},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.4727048873901367},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.46791699528694153},{"id":"https://openalex.org/C113863187","wikidata":"https://www.wikidata.org/wiki/Q17498","display_name":"SCADA","level":2,"score":0.44761449098587036},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41574251651763916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3190150856971741},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20904755592346191},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fcomp.2023.1125055","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fcomp.2023.1125055","pdf_url":"https://www.frontiersin.org/articles/10.3389/fcomp.2023.1125055/pdf","source":{"id":"https://openalex.org/S4210211086","display_name":"Frontiers in Computer Science","issn_l":"2624-9898","issn":["2624-9898"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Computer Science","raw_type":"journal-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/55621","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/55621","pdf_url":"https://orbilu.uni.lu/bitstream/10993/55621/1/fcomp-05-1125055.pdf","source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Computer Science, 5 (2023-04-11)","raw_type":"http://purl.org/coar/resource_type/c_6501"},{"id":"pmh:oai:doaj.org/article:d9389e3e3c734db892a891af1de12a22","is_oa":true,"landing_page_url":"https://doaj.org/article/d9389e3e3c734db892a891af1de12a22","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Computer Science, Vol 5 (2023)","raw_type":"article"},{"id":"pmh:oai:orbilu.uni.lu:10993/55621","is_oa":true,"landing_page_url":"http://orbilu.uni.lu/handle/10993/55621","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null}],"best_oa_location":{"id":"doi:10.3389/fcomp.2023.1125055","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fcomp.2023.1125055","pdf_url":"https://www.frontiersin.org/articles/10.3389/fcomp.2023.1125055/pdf","source":{"id":"https://openalex.org/S4210211086","display_name":"Frontiers in Computer Science","issn_l":"2624-9898","issn":["2624-9898"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Computer Science","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322183","display_name":"Huawei Technologies","ror":"https://ror.org/00cmhce21"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4363672451.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1541206678","https://openalex.org/W1979585379","https://openalex.org/W2137459517","https://openalex.org/W2149593503","https://openalex.org/W2171072057","https://openalex.org/W2541767852","https://openalex.org/W2554640547","https://openalex.org/W2748528844","https://openalex.org/W2798302089","https://openalex.org/W2798493418","https://openalex.org/W2798916184","https://openalex.org/W3022084763","https://openalex.org/W3084249491","https://openalex.org/W3104284241","https://openalex.org/W3117590843","https://openalex.org/W3123917023","https://openalex.org/W3195592611","https://openalex.org/W3202539215","https://openalex.org/W3207383672","https://openalex.org/W3207569761","https://openalex.org/W3208984514","https://openalex.org/W3213515577","https://openalex.org/W4245852543","https://openalex.org/W4298312696","https://openalex.org/W6752946794"],"related_works":["https://openalex.org/W2116998925","https://openalex.org/W3117571503","https://openalex.org/W6398245","https://openalex.org/W2022023965","https://openalex.org/W2086336616","https://openalex.org/W2120542105","https://openalex.org/W2182597083","https://openalex.org/W3120111506","https://openalex.org/W1658171717","https://openalex.org/W4293159387"],"abstract_inverted_index":{"Autonomous":[0],"driver":[1],"assistance":[2],"systems":[3],"(ADAS)":[4],"have":[5,111],"been":[6],"progressively":[7],"pushed":[8],"to":[9,59,73,112,126,129,133,174,183,190,198,234,242],"extremes.":[10],"Today,":[11],"increasingly":[12],"sophisticated":[13],"algorithms,":[14,41,49],"such":[15],"as":[16,79,162,195,197,205,207,238,240],"deep":[17],"neural":[18],"networks,":[19],"assume":[20],"responsibility":[21],"for":[22,158],"critical":[23],"driving":[24,123,181,220],"functionality,":[25],"including":[26],"operating":[27],"the":[28,70,98,106,120,177,209,219,235,243],"vehicle":[29],"at":[30,101,203],"various":[31],"levels":[32,83],"of":[33,77,138,179,201],"autonomy.":[34],"Elaborate":[35],"obstacle":[36],"detection,":[37],"classification,":[38],"and":[39,46,62,85,105,132,186,192,216,224,245],"prediction":[40,244],"mostly":[42],"vision-based,":[43],"trajectory":[44],"planning,":[45],"smooth":[47],"control":[48,60],"take":[50],"over":[51],"what":[52],"humans":[53,67],"learn":[54],"until":[55],"they":[56,110],"are":[57],"permitted":[58],"vehicles":[61,103,182],"beyond.":[63],"And":[64],"even":[65],"if":[66],"remain":[68],"in":[69,75,149],"loop":[71],"(e.g.,":[72],"intervene":[74],"case":[76],"error,":[78],"required":[80],"by":[81],"autonomy":[82],"3":[84],"4),":[86],"it":[87],"remains":[88],"questionable":[89],"whether":[90],"distracted":[91],"human":[92],"drivers":[93],"will":[94],"react":[95],"appropriately,":[96],"given":[97],"high":[99],"speed":[100],"which":[102],"drive":[104],"complex":[107],"traffic":[108],"situations":[109],"cope":[113],"with.":[114],"A":[115],"further":[116],"pitfall":[117],"is":[118,173],"trusting":[119],"whole":[121],"autonomous":[122,159],"stack":[124],"not":[125],"fail":[127],"due":[128],"accidental":[130,184],"causes":[131],"be":[134,230],"robust":[135],"against":[136],"cyberattacks":[137],"increasing":[139],"sophistication.":[140],"In":[141],"this":[142,227],"experience":[143],"report,":[144],"we":[145],"share":[146],"our":[147],"findings":[148],"retrofitting":[150],"application-agnostic":[151],"resilience":[152,169,228],"mechanisms":[153],"into":[154],"an":[155],"existing":[156,168],"hardware-/software-stack":[157],"driving\u2014Apollo\u2014as":[160],"well":[161,196,239],"where":[163],"application":[164],"knowledge":[165],"helps":[166],"improve":[167],"algorithms.":[170],"Our":[171],"goal":[172],"ultimately":[175],"decrease":[176],"vulnerability":[178],"autonomously":[180],"faults":[185],"attacks,":[187],"allowing":[188],"them":[189,202],"absorb":[191],"tolerate":[193],"both,":[194],"come":[199],"out":[200],"least":[204],"secure":[206],"before":[208],"attack":[210],"has":[211],"happened.":[212],"We":[213],"demonstrate":[214],"replication":[215],"rejuvenation":[217],"on":[218],"stack's":[221],"Control":[222],"module":[223],"indicate":[225],"how":[226],"can":[229],"extended":[231],"both":[232],"downwards":[233],"hardware":[236],"level,":[237],"upwards":[241],"planning":[246],"modules.":[247]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
