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  • https://doi.org/10.1109/icftic68075.2025.11325026Copy DOI Icon

A Metamorphic Relation-Driven Approach for Test Case Generation of Autonomous Unmanned Systems

  • Dec 5, 2025
  • Ting Yang +4 more
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Abstract

With the widespread adoption of Autonomous Unmanned Systems (AUS) in complex operational environments such as military reconnaissance and disaster rescue, ensuring their reliability and safety has become a critical challenge. Traditional testing methods rely on manually designed scenarios or randomly generated samples, which makes it difficult to adequately cover the complex behavioral characteristics of AUS in dynamic environments. To address this issue, this paper proposes a Metamorphic Relation (MR)-driven test case generation method that systematically constructs test cases by perturbing the tasks, environments, and sensor data of autonomous unmanned systems. A set of domain-specific MRs corresponding to the typical task chain of AUS (perception–localization–planning–control) is first established. Based on these MRs, an automatic MR-driven test case generation framework is developed to produce diverse and structured test cases and evaluate system behaviors. Experiments conducted on Unmanned Ground Vehicles (UGVs) demonstrate that the proposed method effectively enhances test case diversity and improves defect detection capability. The results indicate that the MR-driven approach provides a promising direction for the testing and validation of various types of autonomous unmanned systems.

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