  As the era of autonomous cyber-physical systems (ACPSs), such as unmanned
aerial vehicles and self-driving cars, unfolds, the demand for robust testing
methodologies is key to realizing the adoption of such systems in real-world
scenarios. However, traditional software testing paradigms face unprecedented
challenges in ensuring the safety and reliability of these systems. In
response, this paper pioneers a strategic roadmap for simulation-based testing
of ACPSs, specifically focusing on autonomous systems. Our paper discusses the
relevant challenges and obstacles of ACPSs, focusing on test automation and
quality assurance, hence advocating for tailored solutions to address the
unique demands of autonomous systems. While providing concrete definitions of
test cases within simulation environments, we also accentuate the need to
create new benchmark assets and the development of automated tools tailored
explicitly for autonomous systems in the software engineering community. This
paper not only highlights the relevant, pressing issues the software
engineering community should focus on (in terms of practices, expected
automation, and paradigms), but it also outlines ways to tackle them. By
outlining the various domains and challenges of simulation-based
testing/development for ACPSs, we provide directions for future research
efforts.
