paper.bib

@inproceedings{carla_sim,
  title     = { {CARLA}: {An} Open Urban Driving Simulator},
  author    = {Alexey Dosovitskiy and German Ros and Felipe Codevilla and Antonio Lopez and Vladlen Koltun},
  booktitle = {Proceedings of the 1st Annual Conference on Robot Learning},
  pages     = {1--16},
  year      = {2017}
}

@inproceedings{osikowicz2025empirically,
  title        = {Empirically evaluating flaky tests for autonomous driving systems in simulated environments},
  author       = {Osikowicz, Olek and McMinn, Phil and Shin, Donghwan},
  doi          = {10.1109/FTW66604.2025.00009},
  booktitle    = {2025 IEEE/ACM International Flaky Tests Workshop (FTW)},
  pages        = {13--20},
  year         = {2025},
  organization = {IEEE}
}

@article{Jaeger2023ICCV,
  title     = {Hidden Biases of End-to-End Driving Models},
  author    = {Bernhard Jaeger and Kashyap Chitta and Andreas Geiger},
  doi       = {10.1109/iccv51070.2023.00757},
  booktitle = {Proc. of the IEEE International Conf. on Computer Vision (ICCV)},
  year      = {2023}
}

@inproceedings{kato2018autoware,
  title        = {Autoware on board: Enabling autonomous vehicles with embedded systems},
  author       = {Kato, Shinpei and Tokunaga, Shota and Maruyama, Yuya and Maeda, Seiya and Hirabayashi, Manato and Kitsukawa, Yuki and Monrroy, Abraham and Ando, Tomohito and Fujii, Yusuke and Azumi, Takuya},
  booktitle    = {2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)},
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  year         = {2018},
  organization = {IEEE}
}

@misc{beamngtech,
  title  = {BeamNG.tech Technical Paper},
  author = {Pascale Maul and Marc Mueller and Fabian Enkler and Eva Pigova and Thomas Fischer and Lefteris Stamatogiannakis},
  year   = {2021}
}

@misc{tier4awsim_2025,
  title     = {tier4/{AWSIM}},
  url       = {https://github.com/tier4/AWSIM},
  abstract  = {Open sourced digital twin simulator for Autoware},
  publisher = {{TIER} {IV}, Inc.},
  urldate   = {2025-12-03},
  date      = {2025-12-01},
  note      = {original-date: 2022-10-14T00:48:24Z},
  keywords  = {autonomous-driving, autoware, ros2, unity}
}

@misc{carla_leaderboard,
  title      = {Get started with Leaderboard 2.0},
  author     = {{CARLA Team}},
  year       = {2024},
  url        = {https://leaderboard.carla.org/get_started_v2_0/},
  abstract   = {Information about how to get started with the {CARLA} Leaderboard version 2.0 and its rules.},
  titleaddon = {{CARLA} Autonomous Driving Leaderboard},
  note       = {Online; accessed 09 November 2025},
  langid     = {english}
}

@article{carlaautowarebridge,
  author  = {Gemb Kaljavesi and Kerbl, Tobias and Betz, Tobias and Kirill Mitkovskii and Diermeyer, Frank},
  month   = {06},
  pages   = {224-229},
  title   = {CARLA-Autoware-Bridge: Facilitating Autonomous Driving Research with a Unified Framework for Simulation and Module Development},
  doi     = {10.1109/iv55156.2024.10588623},
  url     = {https://ieeexplore.ieee.org/abstract/document/10588623?casa_token=MwmRsPLzdZMAAAAA:ucTlWT6ZYbkT7mjWP9WV65yNlIssi6rV3J9ghSckG4I5cfxzQXGkSqxXC5Vk7olD94FcvbiUQtE},
  urldate = {2025-12-04},
  year    = {2024},
  journal = {}
}

@inproceedings{tehrani2025pcla,
  title     = {PCLA: A Framework for Testing Autonomous Agents in the CARLA Simulator},
  author    = {Tehrani, Masoud Jamshidiyan and Kim, Jinhan and Tonella, Paolo},
  doi       = {10.1145/3696630.3728577},
  booktitle = {Proceedings of the 33rd ACM International Conference on the Foundations of Software Engineering},
  pages     = {1040--1044},
  year      = {2025}
}

@misc{apollo,
  author       = {{Baidu}},
  title        = {{Apollo: Open Source Autonomous Driving}},
  howpublished = {https://github.com/ApolloAuto/apollo},
  year         = {2017},
  note         = {Accessed: 2025-12-04}
}


@online{apollow_sim,
  title   = {Apollo Game Simulator},
  author  = {{Baidu}},
  year    = {2024},
  url     = {https://developer.apollo.auto/gamesim.html},
  urldate = {2025-12-05}
}


@misc{guardstrikelab_2023_carla,
  author       = {{Guardstrikelab}},
  title        = {{carla\_apollo\_bridge: Data and Control Bridge for Apollo and Carla}},
  howpublished = {\url{https://github.com/guardstrikelab/carla_apollo_bridge}},
  year         = {2023},
  note         = {Version \textbf{commit hash or tag} (Accessed: 2025-12-04)},
  organization = {GitHub}
}

@misc{carla_scenario_runner_2025,
  author       = {{CARLA}},
  title        = {{Scenario Runner: Traffic Scenario Definition and Execution Engine for CARLA}},
  howpublished = {\url{https://github.com/carla-simulator/scenario_runner}},
  url          = {https://github.com/carla-simulator/scenario_runner},
  urldate      = {2025-12-04},
  year         = {2025},
  organization = {GitHub},
  note         = {Version \textbf{commit hash or tag} (Accessed: 2025-12-04)}
}


@article{tang2023survey,
  title     = {A survey on automated driving system testing: Landscapes and trends},
  author    = {Tang, Shuncheng and Zhang, Zhenya and Zhang, Yi and Zhou, Jixiang and Guo, Yan and Liu, Shuang and Guo, Shengjian and Li, Yan-Fu and Ma, Lei and Xue, Yinxing and others},
  journal   = {ACM Transactions on Software Engineering and Methodology},
  volume    = {32},
  number    = {5},
  pages     = {1--62},
  year      = {2023},
  publisher = {ACM New York, NY}
}

@ARTICLE{9793395,
  author={Chance, Greg and Ghobrial, Abanoub and McAreavey, Kevin and Lemaignan, Séverin and Pipe, Tony and Eder, Kerstin},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  title={On Determinism of Game Engines Used for Simulation-Based Autonomous Vehicle Verification},
  year={2022},
  volume={23},
  number={11},
  pages={20538-20552},
  keywords={Engines;Games;Testing;Autonomous vehicles;Data models;Simulation;Computational modeling;Autonomous driving;autonomous vehicles;determinism;game engines;physics engines;verification and validation (V&V);simulation;testing},
  doi={10.1109/TITS.2022.3177887}}

  @INPROCEEDINGS{9294422,
  author={Rong, Guodong and Shin, Byung Hyun and Tabatabaee, Hadi and Lu, Qiang and Lemke, Steve and Možeiko, Mārtiņš and Boise, Eric and Uhm, Geehoon and Gerow, Mark and Mehta, Shalin and Agafonov, Eugene and Kim, Tae Hyung and Sterner, Eric and Ushiroda, Keunhae and Reyes, Michael and Zelenkovsky, Dmitry and Kim, Seonman},
  booktitle={2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},
  title={LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving},
  year={2020},
  volume={},
  number={},
  pages={1-6},
  keywords={Sensors;Autonomous vehicles;Sensor systems;Engines;Bridges;Three-dimensional displays;Vehicle dynamics},
  doi={10.1109/ITSC45102.2020.9294422}}