Search-based Testing for Accurate Fault Localization in CPS

Fault localization plays an important role in the design, verification and debugging of cyber-physical systems (CPS). Finding the exact location of a fault that triggered a failure in a CPS model is however a challenging task, due to the complex structure and data-flow nature of CPS models. In this paper, we propose a method that uses formal specifications and search-based testing to accurately localize faults. Given a CPS Simulink model, a formalized requirement used as a test oracle, and a test case that fails the formalized property, we develop a procedure that uses search-based testing to generate another test case that succeeds on the same formalized property. We then compare our two similar test cases with opposite verdicts to find the accurate location of the fault. We implement our approach and evaluate it on three case studies from automotive and avionic domains. We empirically compare our approach to a state-of-the-art fault localization technique and demonstrate that our procedure (1) is able to considerably narrow down the number of suspicious model variables and blocks compared to the previous work, and (2) remains robust to an increasing number of active faults in the underlying models.