Assurance-based Learning-enabled Cyber-Physical Systems

This simulation presents a waypoint following scenario, where a static obstacle is detected close to waypoint #3. UUV alters the waypoint - moves it forward towards to the next waypoint.
When it is closer to a given threshold to the next waypoint, UUV skips the already altered one.
With use_behaviour_tree = true, the autonomy is controlled by a BT based logic in the ALC Toolchain.