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Coverage-guided Fuzzing for Plan-based Robotics

Tim Meywerk; Vladimir Herdt; Rolf Drechsler
In: 15th International Conference on Agents and Artificial Intelligence (ICAART). International Conference on Agents and Artificial Intelligence (ICAART-2023), February 22-24, Lissabon, Portugal, 2023.


Autonomous robots are used increasingly in dynamic and safety-critical environments. In these environments the correctness of the robotic plan is of utmost importance. In many other domains, coverage-guided fuzzing has proven to be an effective way to ensure the correctness of software programs. In coverage-guided fuzzing, inputs to a program are generated semi-randomly and the correctness of the output is checked automatically. This way, a large number of test cases can be run without manual interaction. In this work we present our approach to coverage-guided fuzzing for plan-based robotics and our prototypical implementation for the planning language CPL. We also introduce a novel coverage metric for the domain of plan-based robotics.