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Designed with human operators in \nmind, the COLREGS are intentionally underspecified, which may result in ambiguous requirements for correct \nbehaviour for ASVs. Hence the systematic testing of such ambiguous situations is particularly important. \nThis paper investigates to what extent existing test scenario generation approaches deemed effective in the \nautomotive domain can be adapted to test COLREGS-compliance in a maritime context with multi-vessel \nencounters. In a series of experiments involving synthetic and real-world test scenarios, their performance \nis evaluated with respect to relevance, diversity, completeness, scalability and speed. Our results indicate \nthat (1) test scenarios derived from historic maritime traffic are insufficient for testing multi-ship encounters. \nMoreover, (2) existing test scenario generation techniques provide sufficient scalability and speed, but they \nare very limited in terms of diversity and completeness when the number of vessels increases.<\/jats:p>","DOI":"10.1145\/3728919","type":"journal-article","created":{"date-parts":[[2025,6,22]],"date-time":"2025-06-22T10:52:56Z","timestamp":1750589576000},"page":"985-1008","source":"Crossref","is-referenced-by-count":2,"title":["Assessing Scene Generation Techniques for Testing COLREGS-Compliance of Autonomous Surface Vehicles"],"prefix":"10.1145","volume":"2","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-7174-4209","authenticated-orcid":false,"given":"Dominik","family":"Frey","sequence":"first","affiliation":[{"name":"Link\u00f6ping University, Link\u00f6ping, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3009-4314","authenticated-orcid":false,"given":"Ulf","family":"Karg\u00e9n","sequence":"additional","affiliation":[{"name":"Link\u00f6ping University, Link\u00f6ping, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8790-252X","authenticated-orcid":false,"given":"D\u00e1niel","family":"Varr\u00f3","sequence":"additional","affiliation":[{"name":"Link\u00f6ping University, Link\u00f6ping, Sweden"},{"name":"McGill University, Montreal, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2025,6,22]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3238147.3238192"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.11648\/j.ijse.20200402.12"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/tse.2023.3331254"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/ivs.2018.8500632"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/tits.2021.3095547"},{"key":"e_1_2_1_6_1","volume-title":"Proceedings of the 31st IEEE\/ACM International Conference on Automated Software Engineering (ASE \u201916)","author":"Abdessalem Raja Ben","year":"2016","unstructured":"Raja Ben Abdessalem, Shiva Nejati, Lionel C. 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