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...sults using systems outputs and end-to-end behavior, and does not consider system interactions with the environment. In this sense, our approach is specular to the one proposed by Iqbal and coauthors =-=[15]-=- that use models of the environment to generate black-box tests, and that define test oracles in terms of the expected interactions between the SUT and environment. VII. CONCLUSIONS AND FUTURE DIRECTI...

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...previous work, we investigated several testing strategies to generate test cases. We used random testing (RT) [7] as baseline, and then considered two different approaches: Search-based Testing (SBT) =-=[8]-=- and Adaptive Random Testing (ART) [1]. For SBT, an order function was defined that utilizes the information in environment models to guide the search toward the error states. In contrast, with ART, t...

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...ate an environment simulator [18], testcases, and obtain test oracles [19]. For test case generation, we applied various testing strategies, including search-based testing using search-based testing =-=[20]-=-, adaptive random testing [21], and a hybrid approach combining these two strategies [22]. Modeling Solution. The environment models were developed using our proposed UML & MARTE Real-time Embedded sy...

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... to maximize the probability of critical deadline misses [12]. Iqbal et al. used GAs in testing of real-time embedded systems and their empirical study proved effectiveness in detecting system faults =-=[43]-=-. Schwarz et al. applied GAs to mutation testing [71], where GAs were used to produce mutations of a program aiming at improving the quality of test case suits. Genetic Algorithms have been successful...

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...imultaneous world stimuli, Model-based Testing (MBT) is able to leverage behavioral models, such as CEFSM [7], Coloured Petri Nets (CPN) [8], Labelled Transition Systems (LTS) [9], and sequence and communication diagrams in Unified Modeling Language (UML) [10], to describe the behavioral scenarios that can occur between the System Under Test (SUT) and its world. This requires testing solutions to deal with the large number of possibilities of the behavioral scenarios. Current MBT approaches for testing Real-time Embedded Systems (RTES) interacting with their worlds assume a static world model [11]. However, for autonomous systems, the world cannot be described only statically with attributes and values, the world should also be presented and used for testing dynamically. To address these challenges, we propose a systematic MBT approach, World Model-based Test Generation (WMBTG), that identifies what, where and how to use worlds for testing autonomous systems inteacting with their surroundings. Test cases are generated by aggregating test paths in the individual models. These test paths are grouped as concurrent test paths which can be used with simulators or test-harnesses to validate ...

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...believe that application on industrial case(s) is a requirement to assess the credibility and applicability of any MBT approach. 123M. Z. Iqbal et al. In our previous work, we evaluated and reported =-=[43,44]-=- the fault detection effectiveness of testing strategies based on the models developed using the modeling methodology proposed in this paper. We evaluated Random Testing (RT), Adaptive Random Testing ...

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...lobal search algorithm in search-based software engineering [7]. (1+1) EA is simpler than GAs, but in our previous work we found that it can be more effective for software testing problems (e.g., see =-=[8, 9]-=-). For GA, we set the population size to 100 and the crossover rate to 0.75, with a 1.5 bias for rank selection. We use a standard onepoint crossover, and mutation of a variable is done with the stand...