Software debugging, testing, and verification

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Improving Robot Controller Transparency Through Autonomous Policy Explanation (2017, methodology): “Traditional methods for acquiring an understanding of control logic typically involve some form of source code inspection and documentation review [2, 13] or formal verification given proper specifications [36, 23].”
On the Accuracy of Spectrum-based Fault Localization (2007, background): “Testing, debugging, and verification represent a major expenditure in the software development cycle [12], which is to a large extent due to the labor-intensive tasks of diagnosing the faults (bugs) that cause tests to fail.”
A practical evaluation of spectrum-based fault localization (2009, background): “Testing, debugging, and verification represent a major expenditure in the software development cycle (Hailpern and Santhanam, 2002), which is to a large extent due to the labor-intensive task of diagnosing the faults (bugs) that cause tests to fail.”
The economic impacts of inadequate infrastructure for software testing (2002, background): “(Hailpern and Santhanam, 2002) In spite of these efforts some bugs will remain in the final product to be discovered by users.”