Source code of ICSearcher.
This is an approach source code of ICSearcher. It is designed to identify incorrect configurations or unreasonable combinations of parameters and suggest more reasonable ranges for these parameters.
ICSearcher applies a metaheuristic search algorithm to find configurations with a high probability of driving the drone into unstable states.
In particular, ICSearcher adopts a machine learning-based predictor to assist the searcher in evaluating the fitness of the configuration.
Finally, leveraging searched incorrect configurations, ICSearcher can summarize the feasible ranges through multi-objective optimization.
ICSearcher applies a predictor to guide the search, which eliminates the need for realistic/simulation executions when evaluating configurations and further promotes search efficiency.