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
Automated Testing of Timeliness: A Case Study
Robert Nilsson,Jeff Offutt +1 more
- 20 May 2007
TL;DR: This paper evaluates a mutation-based framework for automated testing of timeliness by applying it on a small control system running on Linux/RTAI and indicates that mutation- based test cases are more effective than random and stress tests in finding both naturally occurring and randomly seeded timelness faults.
Formal mutation testing for Circus
TL;DR: Fault-based testing for refinement from Circus specifications using mutation can truly aid making test generation from state-rich model more tractable, by focussing on particular faults.
Debugging with Timed Automata Mutations
Bernhard K. Aichernig,Klaus Hormaier,Florian Lorber +2 more
- 10 Sep 2014
TL;DR: This paper shows how the Model-based Debugging technique can be applied in the context of model-based mutation testing (MBMT) with timed automata with bounded model checking and adds debugging capability to the existing test-case generators.
Model-Based Mutation Testing of Real-Time Systems via Model Checking
Florian Lorber,Kim Guldstrand Larsen,Brian Nielsen +2 more
- 09 Apr 2018
TL;DR: This paper proposes to reuse the properties in a combination of model-based mutation testing and the model-checking of properties for real-time systems, and applies the technique to an industrial case study of an automated gear controller.
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Model-based mutation testing of reactive systems: from semantics to automated test-case generation
Bernhard K. Aichernig
- 01 Jan 2013
TL;DR: Model-based mutation testing as mentioned in this paper is a black-box testing technique that avoids the labour of manually writing hundreds of test cases, but instead advocates the capturing of the expected behaviour in a model of the system under-test.
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