Which types of client access licenses can perform test execution?

I would expect at least Quality Professional license; this is verbatim from license descriptions.
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Quality Manager Quality Professional

This Quality Professional license is designed for quality professionals actively participating in the project. A user that has been assigned a Quality Professional Client Access License has full read and write access to Change Management, Report Customization, Planning, Test management and Requirements management. This license also provides read access to Software Configuration Management and Automation (Build System) capabilities unless otherwise restricted by role-based process permissions. Floating licenses are assigned dynamically by a license server. A user that has been associated with a Floating license type is eligible to participate in the pool of users sharing the available Floating licenses installed on the license server. When such a user performs an operation that requires this license, they will be dynamically assigned a Floating Client Access license by the license server, if one is available

Team Concert Developer

This Developer license is designed for professional developers actively participating in the project. A user that has been assigned a Developer Client Access License has full read and write access to Change Management, Report Customization, Planning, Software Configuration Management, and Automation (Build System). This license also provides read access to Requirements Management and Test management capabilities unless otherwise restricted by role-based process permissions. Floating licenses are assigned dynamically by a license server. A user that has been associated with a Floating license type is eligible to participate in the pool of users sharing the available Floating licenses installed on the license server. When such a user performs an operation that requires this license, they will be dynamically assigned a Floating Client Access license by the license server, if one is available.

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Note the Developer license only allows read access to RM and Test Management
There are also Project Roles and Permissions that permit or deny operations.   This 6.0.2 Knowledge Center describes licensing.    I'm sure there's a similar section in the 5.0.2 ...