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

Cyber-Physical Systems (CPSs) are systems in which software and hardware components interact with each other. Understanding the specific nature root cause of CPS bugs would help to design better verification validation (V&V) techniques for these such as domain-specific mutants. We look at from an open-source perspective, trying understand what kinds occur a set CPSs belonging different domains. analyze 1151 issues 14 projects related drones , automotive, robotics, Arduino. apply hybrid card-sorting procedure create taxonomy bugs, by extending previously proposed automotive domain. provide featuring 22 causes, grouped into eight high-level categories. Our qualitative quantitative analyses suggest that 33.4% analyzed occurring peculiar those and, consequently, require care during activities. The provides overview causes found Such CPS, including hardware, interface, configuration, network, data, application logic. • empirically derive Bugs. extends previous one autonomous vehicles. features bugs. Root concern or CPS-specific.