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
A tool for domain-independent model mutation
TL;DR: This work proposes Wodel : a domain-specific language and tool for model-based mutation that is independent of the domain meta-model, and provides built-in advanced functionalities like automatic generation of seed models, and static and dynamic metrics of operator coverage and applicability.
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Searching and generating test inputs for mutation testing.
Mike Papadakis,Nicos Malevris +1 more
TL;DR: In this paper, search-based testing is used in order to effectively generate test inputs capable of revealing mutants and a dynamic execution scheme capable of introducing and guiding the search towards the sought mutants is proposed.
Specification Mutation Analysis for Validating Timed Testing Approaches Based on Timed Automata
M. Saeed AbouTrab,Steve Counsell,Robert M. Hierons +2 more
- 16 Jul 2012
TL;DR: This paper introduces a set of timed and functional mutation operators based on a Timed Automata (TA) formalism using Specification Mutation Analysis (SMA) and shows that the testing approach achieves high mutation adequacy score when compared with others.
27
Automating Verification of State Machines with Reactive Designs and Isabelle/UTP
Simon Foster,James Baxter,Ana Cavalcanti,Alvaro Miyazawa,Jim Woodcock +4 more
- 10 Oct 2018
TL;DR: In this paper, the authors present a verification approach for a diagrammatic state machine language that utilises theorem proving and a denotational semantics based on Unifying Theories of Programming (UTP).
Mutation-Based Test-Case Generation with Ecdar
Kim Guldstrand Larsen,Florian Lorber,Brian Nielsen,Ulrik Nyman +3 more
- 13 Apr 2017
TL;DR: This work shows how to implement model-based mutation testing for timed automata more efficiently with the tool Ecdar, which belongs to the well-known UPPAAL tool family, and compares the two approaches based on the results.
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