Advertisement

Multilevel Testing of Control Software for Teams of Autonomous Mobile Robots

  • Sebastian Petters
  • Dirk Thomas
  • Martin Friedmann
  • Oskar von Stryk
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5325)

Abstract

Developing control software for teams of autonomous mobile robots is a challenging task, which can be facilitated using frameworks with ready to use components. But testing and debugging the resulting system as teached in modern software engineering to be free of errors and tolerant to sensor noise in a real world scenario is to a large extend beyond the scope of current approaches. In this paper multilevel testing strategies using the developed frameworks RoboFrame and MuRoSimF are presented. Testing incorporating automated tests, online and offline analysis and software-in-the-loop (SIL) tests in combination with real robot hardware or an adequate simulation are highly facilitated by the two frameworks. Thus the efficiency of validation of complex real world applications is improved. In this way potential errors can be identified early in the development process and error situations in real world operations can be reduced significantly.

Keywords

Software Architecture Testing Strategy Humanoid Robot Autonomous Robot Control Software 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Microsoft Robotics Studio (2007), http://msdn.microsoft.com/robotics/
  2. 2.
    OMG Object Management Group. CORBA - Common Object Request Broker Architecture (2007), http://www.corba.org
  3. 3.
    Utz, H., Sablatnög, S., Enderle, S., Kraetzschmar, G.K.: Miro – middleware for mobile robot applications. IEEE Trans. on Robotics and Automation 18(4), 493–497 (2002)CrossRefzbMATHGoogle Scholar
  4. 4.
    Nesnas, I., Wright, A., Bajracharya, M., Simmons, R., Estlin, T., Kim, W.S.: CLARAty: An architecture for reusable robotic software. In: SPIE Aerosense Conference, Orlando, FL (April 2003)Google Scholar
  5. 5.
    Gerkey, B.P., Vaughan, R.T., Howard, A.: The Player/Stage project: Tools for multi-robot and distributed sensor systems. In: Intl. Conf. on Advanced Robotics (ICAR), Coimbra, Portugal, 30 June - 3 July 2003, pp. 317–323 (2003)Google Scholar
  6. 6.
    Koenig, N., Howard, A.: Gazebo - 3D multiple robot simulator with dynamics (2003), http://playerstage.sourceforge.net/gazebo/gazebo.html
  7. 7.
    Gostai. Urbi - Universal Real-time Behavior Interface (2008), http://www.urbiforge.com
  8. 8.
    Michel, O.: Cyberbotics ltd. - webots(tm): Professional mobile robot simulation. Intl. Journal of Advanced Robotic Systems 1(1), 39–42 (2004)Google Scholar
  9. 9.
    Konolige, K.: Saphira robot control architecture. Technical report, SRI International (2002)Google Scholar
  10. 10.
    Smith, R.: ODE - Open Dynamics Engine (2007), http://www.ode.org
  11. 11.
    Laue, T., Spiess, K., Röfer, T.: SimRobot - a general physical robot simulator and its application in RoboCup. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 173–183. Springer, Heidelberg (2006)CrossRefGoogle Scholar
  12. 12.
    AGEIA PhysX website (2007), http://www.ageia.com/physx/
  13. 13.
    Epic games, unreal engine (2007), http://www.epicgames.com
  14. 14.
    Carpin, S., Lewis, M., Wang, J., Balakirsky, S., Scrapper, C.: USARSim: a robot simulator for research and education. In: Proc. of the 2007 IEEE Intl. Conf. on Robotics and Automation (ICRA) (2007)Google Scholar
  15. 15.
    Ntafos, S.C.: A comparison of some structural testing strategies. IEEE Trans. Softw. Eng. 14(6), 868–874 (1988)CrossRefGoogle Scholar
  16. 16.
    Ng, S.P., Murnane, T., Reed, K., Grant, D., Chen, T.Y.: A preliminary survey on software testing practices in Australia. In: Proc. Australian Softw. Eng. Conf (ASWEC 2004), Washington, DC, USA, p. 116. IEEE Computer Society, Los Alamitos (2004)CrossRefGoogle Scholar
  17. 17.
    Figueiredo, J., Lau, N., Pereira, A.: Multi-agent debugging and monitoring framework. In: First Proc. IFAC Workshop on Multivehicle Systems (MVS 2006), Brazil (2006)Google Scholar
  18. 18.
    Petters, S., Thomas, D., Stryk, O.v.: RoboFrame - a modular software framework for lightweight autonomous robots. In: Proc. Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, USA, October 29 (2007)Google Scholar
  19. 19.
    Petters, S., Thomas, D.: RoboFrame website (2008), http://www.roboframe.info
  20. 20.
    Friedmann, M., Petersen, K., von Stryk, O.: Scalable and adequate simulation for motion and sensors of heterogeneous teams of autonomous mobile robots. In: Carpin, S., et al. (eds.) Proc. 1st Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), Venice, Italy, November 2008. LNCS (LNAI). Springer, Heidelberg (2008)Google Scholar
  21. 21.
    Friedmann, M., Kiener, J., Petters, S., Sakamoto, H., Thomas, D., von Stryk, O.: Versatile, high-quality motions and behavior control of humanoid robots. International Journal of Humanoid Robotics, pages accepted (to appear, 2008)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Sebastian Petters
    • 1
  • Dirk Thomas
    • 1
  • Martin Friedmann
    • 1
  • Oskar von Stryk
    • 1
  1. 1.Department of Computer ScienceTechnische Universität DarmstadtDarmstadtGermany

Personalised recommendations