Performance-Driven Metamorphic Testing of Cyber-Physical Systems

Cyber-physical systems (CPSs) are a new generation of systems, which integrate software with physical processes. The increasing complexity these combined the uncertainty in their interactions world, makes definition effective test oracles especially challenging, facing well-known test oracle problem. Metamorphic testing has shown great potential to alleviate problem by exploiting relations among inputs and outputs different executions system, so-called metamorphic relations (MRs). In this article, we propose an MR pattern called PV for identification performance-driven MRs, show its applicability two CPSs from domains, automated navigation systems elevator control systems. For evaluation, assessed effectiveness approach detecting failures open-source simulation-based autonomous as well industrial case study elevation domain. We derive concrete MRs based on both studies, evaluate seeded faults. Results that is at over 88% faults, while keeping ratio FPs 4% or lower.