一句话：提出 SaFUZZ：面向 sUAS 的状态感知模糊测试流水线，可检测状态转换、失效保护与人机交互故障并生成故障树。
小型无人航空系统（sUAS）常在安全关键环境中运行，其机载决策逻辑需在多种时序和环境扰动下严格验证。论文提出 SaFUZZ，一种状态感知的模糊测试流水线，针对状态转移、自动失效保护和人工操作员交互等核心行为生成模糊测试规约，以检测行为偏差；并动态生成故障树，可视化导致失败的状态、模式和环境因素，辅助利益相关者分析根因。作者在真实 sUAS 系统上验证 SaFUZZ，先在高保真仿真中测试，再在真实野外环境用物理 sUAS 验证，发现开发团队此前未检测到的若干故障点，表明该方法实用且可扩展。
The increasing deployment of small Uncrewed Aerial Systems (sUAS) in diverse and often safety-critical environments demands rigorous validation of onboard decision logic under various conditions. In this paper, we present SaFUZZ, a state-aware fuzzing pipeline that validates core behavior associated with state transitions, automated failsafes, and human operator interactions in sUAS applications operating under various timing conditions and environmental disturbances. We create fuzzing specifications to detect behavioral deviations, and then dynamically generate associated Fault Trees to visualize states, modes, and environmental factors that contribute to the failure, thereby helping project stakeholders to analyze the failure and identify its root causes. We validated SaFUZZ against a real-world sUAS system and were able to identify several points of failure not previously detected by the system’s development team. The fuzzing was conducted in a high-fidelity simulation environment, and outcomes were validated on physical sUAS in a real-world field testing setting. The findings from the study demonstrated SaFUZZ’s ability to provide a practical and scalable approach to uncovering diverse state transition failures in a real-world sUAS application.
@inproceedings{abs-2601-05449,
title = {Uncovering Failures in Cyber-Physical System State Transitions: A Fuzzing-Based Approach Applied to sUAS},
author = {Theodore Chambers and Arturo Miguel Russell Bernal and Michael Vierhauser and Jane Cleland-Huang},
booktitle = {ICSE},
year = {2026},
doi = {10.1145/3744916.3787797}
}