“…First, robotic systems are ubiquitous in safety-critical areas and it is of the upmost importance to increase the confidence in the correctness of these systems. It is becoming widely recognised, not only in academia but also in industry, that the use of formal methods increases the reliability of the developed systems [4,13,37]. As a result, since software testing [2,36] is the main software validation technique, the combination of formal methods and testing is a promising approach to analyse the behaviour of systems; this is the second factor that motivated the work.…”