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This paper provides a comprehensive introduction to a framework for formal testing using labelled transition systems, based on an extension and reformulation of the ioco theory introduced by Tretmans. We introduce the underlying models needed to specify the requirements, and formalise the notion of test cases. We discuss conformance, and in particular the conformance relation ioco. For this relation we prove several interesting properties, and we provide algorithms to derive test cases (either in batches, or on the fly).
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