An automated model‐based testing approach for the self‐adaptive behavior of the unmanned aircraft system application software

The unmanned aircraft system (UAS) is rapidly gaining popularity in civil and military domains. A UAS consists of an application software that is responsible for defining a UAS mission and its expected behavior. A UAS during its mission experiences changes (or interruptions) that require the unmanned aerial vehicle (UAV) in a UAS to self‐adapt, that is, to adjust both its behavior and position in real‐time, particularly for maintaining formation in the case of a UAS swarm. This adaptation is critical as the UAS operates in an open environment, interacting with humans, buildings, and neighboring UAVs. To verify if a UAS correctly makes an adaptation, it is important to test it. The current industrial practice for testing the self‐adaptive behaviors in UAS is to carry out testing activities manually. This is particularly true for existing UAS rather than newly developed ones. Manual testing is time‐consuming and allows the execution of a limited set of test cases. To address this problem, we propose an automated model‐based approach to test the self‐adaptive behavior of UAS application software. The work is conducted in collaboration with an industrial partner and demonstrated through a case study of UAS swarm formation flight application software. Further, the approach is verified on various self‐adaptive behaviors for three open‐source autopilots (i.e., Ardu‐Copter, Ardu‐Plane, and Quad‐Plane). Using the proposed model‐based testing approach we are able to test sixty unique self‐adaptive behaviors. The testing results show that around 80% of the behavior adaptations are correctly executed by UAS application software.