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    Implementation relations and testing for cyclic systems: adding probabilities

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    Lefticaru_et_al_RAS (1006.Kb)
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    Publication date
    2023-07
    Author
    Nunez, M.
    Hierons, R.M.
    Lefticaru, Raluca
    Keyword
    Probabilistic systems
    Cyclic systems
    Model-based testing
    Implementation relations
    Rights
    © 2023 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
    Peer-Reviewed
    Yes
    Open Access status
    openAccess
    
    Metadata
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    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.
    URI
    http://hdl.handle.net/10454/19414
    Version
    Published version
    Citation
    Nunez M, Hierons RM and Lefticaru R (2023) Implementation relations and testing for cyclic systems: adding probabilities. Robotics and Autonomous Systems. 165: 104426.
    Link to publisher’s version
    https://doi.org/10.1016/j.robot.2023.104426
    Type
    Article
    Collections
    Engineering and Digital Technology Publications

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