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
A domain-specific language for model mutation and its application to the automated generation of exercises
TL;DR: This paper describes Wodel-Edu, a post-processing extension directed to the automated generation of exercises for particular domains and their automated correction, and shows an application for the automatic generation of self-assessment exercises.
25
Automating Verification of State Machines with Reactive Designs and Isabelle/UTP
TL;DR: This paper presents a verification approach for a diagrammatic state machine language that utilises theorem proving and a denotational semantics based on Unifying Theories of Programming (UTP), and provides the necessary theory to underpin state machines.
Mutation Operators for UML Class Diagrams
Maria Fernanda Granda,Maria Fernanda Granda,Nelly Condori-Fernandez,Tanja E. J. Vos,Oscar Pastor +4 more
- 13 Jun 2016
TL;DR: The design of a set of mutation operators for Conceptual Schemas (CS) based on UML Class Diagrams (CD) is presented, defined in accordance with an existing defects classification for UML CS and relevant elements identified from the UML-CD meta-model.
Wodel: a domain-specific language for model mutation
Pablo Gómez-Abajo,Esther Guerra,Juan de Lara +2 more
- 04 Apr 2016
TL;DR: This paper presents a domain-specific language, called Wodel, for the specification and generation of model mutants, which is domain-independent and can be used to generate mutants of models conforming to arbitrary metamodels.
Testing with inputs and outputs in CSP
Ana Cavalcanti,Robert M. Hierons +1 more
- 16 Mar 2013
TL;DR: This paper adapts the CSP stable-failures model, resulting in the notion of input-output failures refinement, and compares that with the ioco relation often used in testing.
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