Earticle

This paper presents a hierarchical test model and automated test framework for robot software components of RTC(Robot Technology Component) combined with hardware module. The hierarchical test model consists of three levels of testing based on V-model : unit test, integration test, and system test. The automated test framework incorporates four components of test data generation, test manager, test execution, and test monitoring. The proposed testing model and its automation framework is proven to be efficient for testing of developed robotic software components in terms of time and cost. The feasibility and effectiveness of proposed architecture for robot components testing are illustrated through an application example along with embedded robotic testbed equipped with range sensor hardware and its software component modeled as an RTC.

In the testing of a software component-based robot system, generating test cases for the system is a time-consuming and difficult task that requires the combining of test data. This paper proposes an adaptive combinatorial testing method which is based on the input/output relationship among components and which automatically generates the test cases for the system. The proposed algorithm first generates an input/output relationship graph in order to analyze the input/output relationship of the system. It then generates the reduced set of test cases according to the analyzed type of input/output relationship. To validate the proposed algorithm some comparisons are given in terms of the time complexity and the number of test cases.