Efficient Component Integration Testing of A Landing Platform for Vertical Take Off and Landing UAVs

摘要

This paper describes a multi phase test generation strategy for testing systems whose components function in parallel. In this type of system, some or all components do not need to communicate directly with each other. Testing concurrent functionality requires an efficient method to generate test cases for concurrent behavior. Existing concurrent coverage criteria such as Rendezvous are not applicable since the components do not need to interact with each other. In this paper we propose a new efficient serialization technique to execute test paths of concurrent system components. We used Extended Finite State Machines (EFSM) as a model-based test generation technique to produce test paths for each component. We apply this strategy to a fully operational prototype of a mobile landing platform robot designed to launch, recover and re-launch Vertical Take Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs).