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dc.contributor.authorNunez, M.
dc.contributor.authorHierons, R.M.
dc.contributor.authorLefticaru, Raluca
dc.date.accessioned2023-04-17T18:19:23Z
dc.date.accessioned2023-05-10T10:42:44Z
dc.date.available2023-04-17T18:19:23Z
dc.date.available2023-05-10T10:42:44Z
dc.date.issued2023-07
dc.identifier.citationNunez M, Hierons RM and Lefticaru R (2023) Implementation relations and testing for cyclic systems: adding probabilities. Robotics and Autonomous Systems. 165: 104426.en_US
dc.identifier.urihttp://hdl.handle.net/10454/19414
dc.descriptionYesen_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipThis work has been supported by EPSRC, United Kingdom grant EP/R025134/2 RoboTest: Systematic Model-Based Testing and Simulation of Mobile Autonomous Robots, the Spanish MINECO-FEDER grant PID2021- 122215NB-C31 (AwESOMe) and the Region of Madrid grant S2018/TCS-4314 (FORTE-CM) co-funded by EIE Funds of the European Union.en_US
dc.language.isoenen_US
dc.publisherElsevier
dc.relation.isreferencedbyhttps://doi.org/10.1016/j.robot.2023.104426en_US
dc.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/).en_US
dc.subjectProbabilistic systemsen_US
dc.subjectCyclic systemsen_US
dc.subjectModel-based testingen_US
dc.subjectImplementation relationsen_US
dc.titleImplementation relations and testing for cyclic systems: adding probabilitiesen_US
dc.status.refereedYesen_US
dc.date.Accepted2023
dc.date.application2023-04-06
dc.typeArticleen_US
dc.type.versionPublished versionen_US
dc.rights.licenseCC-BYen_US
dc.date.updated2023-04-17T18:19:25Z
refterms.dateFOA2023-05-10T10:43:35Z
dc.openaccess.statusopenAccessen_US


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