research-article

An empirical characterization of software bugs in open-source Cyber–Physical Systems

Authors:

Fiorella Zampetti,

Massimiliano Di Penta,

Sebastiano PanichellaAuthors Info & Claims

Volume 192, Issue C

https://doi.org/10.1016/j.jss.2022.111425

Published: 01 October 2022 Publication History

Abstract

Background:

Cyber-Physical Systems (CPSs) are systems in which software and hardware components interact with each other. Understanding the specific nature and root cause of CPS bugs would help to design better verification and validation (V&V) techniques for these systems such as domain-specific mutants.

Aim:

We look at CPS bugs from an open-source perspective, trying to understand what kinds of bugs occur in a set of open-source CPSs belonging to different domains.

Method:

We analyze 1151 issues from 14 projects related to drones, automotive, robotics, and Arduino. We apply a hybrid card-sorting procedure to create a taxonomy of CPS bugs, by extending a previously proposed taxonomy specific to the automotive domain.

Results:

We provide a taxonomy featuring 22 root causes, grouped into eight high-level categories. Our qualitative and quantitative analyses suggest that 33.4% of the analyzed bugs occurring in CPSs are peculiar to those and, consequently, require specific care during verification and validation activities.

Conclusion:

The taxonomy provides an overview of the root causes related to bugs found in open-source CPSs belonging to different domains. Such root causes are related to different components of a CPS, including hardware, interface, configuration, network, data, and application logic.

Highlights

•

We empirically derive a taxonomy of Cyber-Physical Systems (CPSs) Bugs.

•

The taxonomy extends a previous one from autonomous vehicles.

•

The taxonomy features 22 root causes for bugs.

•

Root causes concern hardware, interface, configuration, network, or logic.

•

33.4% of the analyzed bugs are CPS-specific.

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Index Terms

An empirical characterization of software bugs in open-source Cyber–Physical Systems
1. General and reference
2. Theory of computation
  1. Semantics and reasoning
    1. Program reasoning

Index terms have been assigned to the content through auto-classification.

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cover image Journal of Systems and Software

Journal of Systems and Software Volume 192, Issue C

Oct 2022

312 pages

ISSN:0164-1212

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Elsevier Inc.

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Elsevier Science Inc.

United States

Publication History

Published: 01 October 2022

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Cited By

Feng SYe YShi QCheng ZXu XCheng SChoi HZhang XFilkov VRay BZhou M(2024)ROCAS: Root Cause Analysis of Autonomous Driving Accidents via Cyber-Physical Co-mutationProceedings of the 39th IEEE/ACM International Conference on Automated Software Engineering10.1145/3691620.3695530(1620-1632)Online publication date: 27-Oct-2024
https://dl.acm.org/doi/10.1145/3691620.3695530
Bifolco DNocera SRomano SDi Penta MFrancese RScanniello G(2024)On the Accuracy of GitHub's Dependency GraphProceedings of the 28th International Conference on Evaluation and Assessment in Software Engineering10.1145/3661167.3661175(242-251)Online publication date: 18-Jun-2024
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Hassan MSalvador JSantu SRahman A(2024)State Reconciliation Defects in Infrastructure as CodeProceedings of the ACM on Software Engineering10.1145/36607901:FSE(1865-1888)Online publication date: 12-Jul-2024
https://dl.acm.org/doi/10.1145/3660790
Birchler CMohammed TRani PNechita TKehrer TPanichella S(2024)How Does Simulation-Based Testing for Self-Driving Cars Match Human Perception?Proceedings of the ACM on Software Engineering10.1145/36437681:FSE(929-950)Online publication date: 12-Jul-2024
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Khatiri SSaurabh PZimmermann TMunasinghe CBirchler CPanichella S(2024)SBFT Tool Competition 2024 - CPS-UAV Test Case Generation TrackProceedings of the 17th ACM/IEEE International Workshop on Search-Based and Fuzz Testing10.1145/3643659.3643931(29-32)Online publication date: 14-Apr-2024
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Birchler CGanz NKhatiri SGambi APanichella S(2023)Cost-effective simulation-based test selection in self-driving cars software▪Science of Computer Programming10.1016/j.scico.2023.102926226:COnline publication date: 1-Mar-2023
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