Núñez, M., Hierons, R. orcid.org/0000-0002-4771-1446 and Lefticaru, R. (2023) Implementation relations and testing for cyclic systems: adding probabilities. Robotics and Autonomous Systems, 165. 104426. ISSN 0921-8890
Abstract
This paper concerns the systematic testing of robotic control software based on state-based models. We focus on cyclic systems that typically receive inputs (values from sensors), perform computations, produce outputs (sent to actuators) and possibly change state. We provide a testing theory for such cyclic systems where time can be represented and probabilities are used to quantify non-deterministic choices, making it possible to model probabilistic algorithms. In addition, refusals, the inability of a system to perform a set of actions, are taken into account. We consider several possible testing scenarios. For example, a tester might only be able to passively observe a sequence of events and so cannot check probabilities, while in another scenario a tester might be able to repeatedly apply a test case and so estimate the probabilities of sequences of events. These different testing scenarios lead to a range of implementation relations (notions of correctness). As a consequence, this paper provides formal definitions of implementation relations that can form the basis of sound automated testing in a range of testing scenarios. We also validate the implementation relations by showing how observers can be used to provide an alternative but equivalent characterisation.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2023 The Authors. This is an Open Access article distributed under the terms of the Creative Commons Attribution Licence (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
Keywords: | Probabilistic systems; Cyclic systems; Model-based testing; Implementation relations |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield) |
Funding Information: | Funder Grant number ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL EP/R025134/2 Engineering and Physical Sciences Research Council EP/V026801/2 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 18 Apr 2023 11:32 |
Last Modified: | 18 Apr 2023 11:32 |
Status: | Published |
Publisher: | Elsevier |
Refereed: | Yes |
Identification Number: | 10.1016/j.robot.2023.104426 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:197992 |