CoCoMEGA combines metamorphic testing with cooperative co-evolutionary search and finds more severe, diverse autonomous-driving safety violations in simulation than random search and a standard genetic algorithm.
Safety in wearable robotic exoskeletons: Design, control, and testing guidelines,
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Using Cooperative Co-evolutionary Search to Generate Metamorphic Test Cases for Autonomous Driving Systems
CoCoMEGA combines metamorphic testing with cooperative co-evolutionary search and finds more severe, diverse autonomous-driving safety violations in simulation than random search and a standard genetic algorithm.