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
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
Testing, Validation, and Verification of Robotic and Autonomous Systems: A Systematic Review
TL;DR: The findings show that variants of temporal logics are most widely used for modelling requirements and properties, while variants of state-machines and transition systems are used widely for modelling system behaviour.
RoboWorld: Where Can My Robot Work?
Ana Cavalcanti,Jim Baxter,Gustavo Carvalho +2 more
TL;DR: RoboWorld is a natural language for defining robot operational requirements and interactions with the environment. It is part of the RoboStar framework for verifying robotic systems.
7
Implementation relations and testing for cyclic systems with refusals and discrete time
TL;DR: New implementation relations are defined that encapsulate the discrete nature of time and take into account not only the actions that models can perform but also the ones that they can refuse, showing that the relations are appropriate conservative extensions of trace containment.
6
Testing using CSP Models: Time, Inputs, and Outputs
TL;DR: In this paper , the authors present a testing theory for timewise refinement, based on novel definitions of test and test execution, and reconcile refinement and testing by relating timed ioco testing and refinement in tock-CSP with inputs and outputs.
References
Program testing by specification mutation
Timothy A. Budd,Ajei S. Gopal +1 more
TL;DR: A procedure for measuring test case effectiveness using specifications given in predicate calculus form, similar to the mutation analysis method of testing programs is outlined.
Automatic property checking of robotic applications
Alvaro Miyazawa,Pedro Ribeiro,Wei Li,Ana Cavalcanti,Jon Timmis +4 more
- 01 Sep 2017
TL;DR: This work has developed a tool and techniques for graphical modelling with support for automatic generation of underlying mathematical definitions for model checking that is possible to check automatically both general properties, like absence of deadlock, and specific application properties.
Test Case Generation by Contract Mutation in Spec
TL;DR: This paper uses the mutation operation to derive test cases that demonstrate the absence of certain faults in an implementation, and relies on the counter-example generation capabilities of the Spec#/Boogie/Z3 system.
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