diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
new file mode 100644
index 0000000..1ce3bf9
--- /dev/null
+++ b/.github/workflows/test.yml
@@ -0,0 +1,55 @@
+name: Tests
+
+on:
+  push:
+    branches: [ main, develop, add-ci ]
+  pull_request:
+    branches: [ main, develop ]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ['3.9', '3.10', '3.11', '3.12']
+
+    steps:
+    - uses: actions/checkout@v4
+    
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+    
+    - name: Cache pip dependencies
+      uses: actions/cache@v3
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+    
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r requirements.txt
+        pip install -e .
+    
+    - name: Run tests with pytest
+      run: |
+        pytest tests/ -v --tb=short
+    
+    - name: Run tests with coverage
+      if: matrix.python-version == '3.12'
+      run: |
+        pip install pytest-cov
+        pytest tests/ --cov=tesseract_sim --cov-report=xml --cov-report=term-missing
+    
+    - name: Upload coverage to Codecov
+      if: matrix.python-version == '3.12'
+      uses: codecov/codecov-action@v3
+      with:
+        file: ./coverage.xml
+        flags: unittests
+        name: codecov-umbrella
+        fail_ci_if_error: false