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
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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
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T. Srivatanakul,John A. Clark,Susan Stepney,Fiona A. C. Polack +3 more
- 10 Dec 2003
TL;DR: This work examines how fault injection and model checking can help address the effects of failure and finds that, in contrast with software testing, "equivalent mutants" are valuable for specification validation.
45
Mutation Testing in the Refinement Calculus
TL;DR: A novel generalisation of mutationTesting techniques is presented to be applied to contracts ranging from formal specifications to programs and it is demonstrated that refinement and its dual abstraction are the key notions leading to a precise and yet simple theory of mutation testing.
45
Mutation-based testing criteria for timeliness
Robert Nilsson,Jeff Offutt,Sten F. Andler +2 more
- 28 Sep 2004
TL;DR: This paper presents test criteria based on mutation to test timeliness and shows how previously proposed methods in specification based testing, can be applied to testing real-time systems.
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Testing for refinement in CSP
Ana Cavalcanti,Marie-Claude Gaudel +1 more
- 14 Nov 2007
TL;DR: This paper identifies the testability hypothesis that is necessary to use CSP models as a basis for testing, and defines test sets that are proved to be exhaustive with respect to traces and failures refinement and considers optimisations, inputs and outputs, and selection strategies.
Testing for refinement in Circus
TL;DR: This work presents the Circus testing theory, a UTP-based generalisation of failures-divergences refinement that considers data modelling and the basis for test-generation techniques that can combine coverage criteria for data and transition models.
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