Book Chapter10.1007/978-3-030-31157-5_2
Testing Robots Using CSP
Ana Cavalcanti,James Baxter,Robert M. Hierons,Raluca Lefticaru +3 more
- 09 Oct 2019
- pp 21-38
14
TL;DR: This paper uses the example of a simple drone to illustrate an approach to generate tests from RoboChart models using a mutation tool called Wodel, and concludes that the testing theory of CSP justifies the soundness of the tests.
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Abstract: This paper presents a technique for automatic generation of tests for robotic systems based on a domain-specific notation called RoboChart. This is a UML-like diagrammatic notation that embeds a component model suitable for robotic systems, and supports the definition of behavioural models using enriched state machines that can feature time properties. The formal semantics of RoboChart is given using tock-CSP, a discrete-time variant of the process algebra CSP. In this paper, we use the example of a simple drone to illustrate an approach to generate tests from RoboChart models using a mutation tool called Wodel. From mutated models, tests are generated using the CSP model checker FDR. The testing theory of CSP justifies the soundness of the tests.
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Citations
RoboWorld: Verification of Robotic Systems with Environment in the Loop
James Baxter,Gustavo Carvalho,Ana Cavalcanti,Francisco Rodrigues Lima Junior +3 more
- 27 Sep 2023
TL;DR: This article defines RoboWorld’s syntax and hybrid semantics, and illustrates its use for capturing operational requirements, for automatic test generation, and for proof, and presents a tool that supports the writing of RoboWorld documents.
3
Bringing RoboStar and RT-Tester Together
Ana Cavalcanti,Alvaro Miyazawa,Uwe Schulze,Jonathan Timmis +3 more
TL;DR: Researchers integrate RoboStar, a CSP-based framework for robotic system model-based engineering, with RT-Tester, a formal testing tool, enabling RoboStar users to leverage RT-Tester's testing infrastructure and high-performance execution engine for simulations and test generation.
1
RoboStar modelling stack: tackling the reality gap
Ana Cavalcanti
- 18 May 2021
TL;DR: RoboStar as discussed by the authors is a model-based software engineering for robotics that enables the construction of artefacts that capture and relate assumptions that can play a role in the reality, and provides a brief overview of the RoboStar approach.
1
Implementation relations and testing for cyclic systems: Adding probabilities
TL;DR: In this article , the authors provide a testing theory for cyclic systems where time can be represented and probabilities are used to quantify non-deterministic choices, making it possible to model probabilistic algorithms.
1
Challenges in testing of cyclic systems
Ana Cavalcanti,Robert M. Hierons +1 more
- 14 Jun 2023
TL;DR: This work describes the challenges involved in using reactive design models for execution against simulations or cyclic implementations either automatically generated or custom developed, and links design-based tests to the tests executed against the cyclic mechanisms to support traceability.
References
An Analysis and Survey of the Development of Mutation Testing
Yue Jia,Mark Harman +1 more
TL;DR: These analyses provide evidence that Mutation Testing techniques and tools are reaching a state of maturity and applicability, while the topic of Mutation testing itself is the subject of increasing interest.
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Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue
Teodor Tomic,Korbinian Schmid,Philipp Lutz,Andreas Dömel,Michael Kassecker,Elmar Mair,Iris Grixa,Felix Ruess,Michael Suppa,Darius Burschka +9 more
TL;DR: This article presents an unmanned aircraft system design fulfillingUrban search and rescue missions raise special requirements on robotic systems, and uses both laser and stereo vision odometry to enable seamless indoor and outdoor navigation.
•Book
Understanding Concurrent Systems
A. W. Roscoe
- 10 Oct 2010
TL;DR: Understanding Concurrent Systems presents a comprehensive introduction to CSP, and introduces other views of concurrency, using CSP to model and explain these, and explores the practical application of CSP.
421
Using Model Checking to Generate Tests from Specifications | NIST
Paul Ammann,Paul E. Black,William J. Majurski +2 more
- 01 Nov 1998
TL;DR: In this paper, a model checker is applied to the problem of test generation using a new application of mutation analysis, and two classes of operators are defined: those that generate test cases from which a correct implementation must differ, and those that produce test cases with which it must agree.
334
Using model checking to generate tests from specifications
Paul Ammann,Paul E. Black,W. Majurski +2 more
- 09 Dec 1998
TL;DR: This work applies a model checker to the problem of test generation using a new application of mutation analysis, and defines syntactic operators, each of which produces a slight variation on a given model.
332
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