Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel

This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a bounding polygon, the ASV will find and follow the intersection of the bounding polygon and the depth contour as modeled online with a Gaussian Process (GP). This intersection, once mapped, will then be used as a boundary within which a path will be planned for coverage to build a map of the Bathymetry. Methods for sequential updates to GP's are described allowing online fitting, prediction and hyper-parameter optimisation on a small embedded PC. New algorithms are introduced for the partitioning of convex polygons to allow efficient path planning for coverage. These algorithms are tested both in simulation and in the field with a small twin hull differential thrust vessel built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field Robotic

JWalk: a tool for lazy, systematic testing of java classes by design introspection and user interaction

Popular software testing tools, such as JUnit, allow frequent retesting of modified code; yet the manually created test scripts are often seriously incomplete. A unit-testing tool called JWalk has therefore been developed to address the need for systematic unit testing within the context of agile methods. The tool operates directly on the compiled code for Java classes and uses a new lazy method for inducing the changing design of a class on the fly. This is achieved partly through introspection, using Java’s reflection capability, and partly through interaction with the user, constructing and saving test oracles on the fly. Predictive rules reduce the number of oracle values that must be confirmed by the tester. Without human intervention, JWalk performs bounded exhaustive exploration of the class’s method protocols and may be directed to explore the space of algebraic constructions, or the intended design state-space of the tested class. With some human interaction, JWalk performs up to the equivalent of fully automated state-based testing, from a specification that was acquired incrementally

Improving Function Coverage with Munch: A Hybrid Fuzzing and Directed Symbolic Execution Approach

Fuzzing and symbolic execution are popular techniques for finding vulnerabilities and generating test-cases for programs. Fuzzing, a blackbox method that mutates seed input values, is generally incapable of generating diverse inputs that exercise all paths in the program. Due to the path-explosion problem and dependence on SMT solvers, symbolic execution may also not achieve high path coverage. A hybrid technique involving fuzzing and symbolic execution may achieve better function coverage than fuzzing or symbolic execution alone. In this paper, we present Munch, an open source framework implementing two hybrid techniques based on fuzzing and symbolic execution. We empirically show using nine large open-source programs that overall, Munch achieves higher (in-depth) function coverage than symbolic execution or fuzzing alone. Using metrics based on total analyses time and number of queries issued to the SMT solver, we also show that Munch is more efficient at achieving better function coverage.Comment: To appear at 33rd ACM/SIGAPP Symposium On Applied Computing (SAC). To be held from 9th to 13th April, 201

An empirical investigation into branch coverage for C programs using CUTE and AUSTIN

Automated test data generation has remained a topic of considerable interest for several decades because it lies at the heart of attempts to automate the process of Software Testing. This paper reports the results of an empirical study using the dynamic symbolic-execution tool. CUTE, and a search based tool, AUSTIN on five non-trivial open source applications. The aim is to provide practitioners with an assessment of what can be achieved by existing techniques with little or no specialist knowledge and to provide researchers with baseline data against which to measure subsequent work. To achieve this, each tool is applied 'as is', with neither additional tuning nor supporting harnesses and with no adjustments applied to the subject programs under test. The mere fact that these tools can be applied 'out of the box' in this manner reflects the growing maturity of Automated test data generation. However, as might be expected, the study reveals opportunities for improvement and suggests ways to hybridize these two approaches that have hitherto been developed entirely independently. (C) 2010 Elsevier Inc. All rights reserved

Branch-coverage testability transformation for unstructured programs

Test data generation by hand is a tedious, expensive and error-prone activity, yet testing is a vital part of the development process. Several techniques have been proposed to automate the generation of test data, but all of these are hindered by the presence of unstructured control flow. This paper addresses the problem using testability transformation. Testability transformation does not preserve the traditional meaning of the program, rather it deals with preserving test-adequate sets of input data. This requires new equivalence relations which, in turn, entail novel proof obligations. The paper illustrates this using the branch coverage adequacy criterion and develops a branch adequacy equivalence relation and a testability transformation for restructuring. It then presents a proof that the transformation preserves branch adequacy