RPIST: Required and provided interface specification-based test case generation and execution methodology for robot software component

This paper proposes required and provided interface specification-based testing method for robot software component (RPIST). The proposed method provides two main algorithms for interface testing. First, it provides algorithm for generation of test case by considering a dependency of provided and required interface. Second, it provides architecture of test execution with the generated test cases. We have evaluated RPIST on OPRoS Navigation component.