Specification Patterns for Robotic Missions

Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need, a large number of domain-specific specification languages has been proposed. These, in addition to traditional logical languages, allow the use of formally specified missions for synthesis, verification, simulation, or guiding the implementation. For instance, the logical language LTL is commonly used by experts to specify missions, as an input for planners, which synthesize the behavior a robot should have. Unfortunately, domain-specific languages are usually tied to specific robot models, while logical languages such as LTL are difficult to use by non-experts. We present a catalog of 22 mission specification patterns for mobile robots, together with tooling for instantiating, composing, and compiling the patterns to create mission specifications. The patterns provide solutions for recurrent specification problems, each of which detailing the usage intent, known uses, relationships to other patterns, and---most importantly---a template mission specification in temporal logic. Our tooling produces specifications expressed in the LTL and CTL temporal logics to be used by planners, simulators, or model checkers. The patterns originate from 245 realistic textual mission requirements extracted from the robotics literature, and they are evaluated upon a total of 441 real-world mission requirements and 1251 mission specifications. Five of these reflect scenarios we defined with two well-known industrial partners developing human-size robots. We validated our patterns' correctness with simulators and two real robots

Web browsing automation for applications quality control

Context: Quality control comprises the set of activities aimed to evaluate that software meets its specification and delivers the functionality expected by the consumers. These activities are often removed in the development process and, as a result, the final software product usually lacks quality. Objective: We propose a set of techniques to automate the quality control for web applications from the client-side, guiding the process by functional and nonfunctional requirements (performance, security, compatibility, usability and accessibility). Method: The first step to achieve automation is to define the structure of the web navigation. Existing software artifacts in the phase of analysis and design are reused. Then, the independent paths of navigation are found, and each path is traversed automatically using real browsers while different kinds of assessments are carried out. Results: The processes and methods proposed in this paper have been implemented by means of a reference architecture and open source tools. A laboratory experiment and an industrial case study have been performed in order to validate the proposal. Conclusion: The definition of navigation paths is a rich approach to model web applications. Grey-box (black-box and white-box) methods have been proved to be very valuable for web assessment. The Chinese Postman Problem (CPP) is an optimal way to find the independent paths in a web navigation modeled as a directed graph

Maintenance of Automated Test Suites in Industry: An Empirical study on Visual GUI Testing

Context: Verification and validation (V&V) activities make up 20 to 50 percent of the total development costs of a software system in practice. Test automation is proposed to lower these V&V costs but available research only provides limited empirical data from industrial practice about the maintenance costs of automated tests and what factors affect these costs. In particular, these costs and factors are unknown for automated GUI-based testing. Objective: This paper addresses this lack of knowledge through analysis of the costs and factors associated with the maintenance of automated GUI-based tests in industrial practice. Method: An empirical study at two companies, Siemens and Saab, is reported where interviews about, and empirical work with, Visual GUI Testing is performed to acquire data about the technique's maintenance costs and feasibility. Results: 13 factors are observed that affect maintenance, e.g. tester knowledge/experience and test case complexity. Further, statistical analysis shows that developing new test scripts is costlier than maintenance but also that frequent maintenance is less costly than infrequent, big bang maintenance. In addition a cost model, based on previous work, is presented that estimates the time to positive return on investment (ROI) of test automation compared to manual testing. Conclusions: It is concluded that test automation can lower overall software development costs of a project whilst also having positive effects on software quality. However, maintenance costs can still be considerable and the less time a company currently spends on manual testing, the more time is required before positive, economic, ROI is reached after automation

Using formal methods to support testing

Formal methods and testing are two important approaches that assist in the development of high quality software. While traditionally these approaches have been seen as rivals, in recent years a new consensus has developed in which they are seen as complementary. This article reviews the state of the art regarding ways in which the presence of a formal specification can be used to assist testing

Requirements traceability in model-driven development: Applying model and transformation conformance

The variety of design artifacts (models) produced in a model-driven design process results in an intricate relationship between requirements and the various models. This paper proposes a methodological framework that simplifies management of this relationship, which helps in assessing the quality of models, realizations and transformation specifications. Our framework is a basis for understanding requirements traceability in model-driven development, as well as for the design of tools that support requirements traceability in model-driven development processes. We propose a notion of conformance between application models which reduces the effort needed for assessment activities. We discuss how this notion of conformance can be integrated with model transformations