Continuous Integration for Iterative Validation of Simulated Robot Models

  • Florian Lier
  • Simon Schulz
  • Ingo Lütkebohle
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7628)


Simulated environments often provide the first, and are usually the most frequent, test environment for robotic systems, primarily due to their cost and safety advantages. Unfortunately, changing aspects of both, the simulation and the real robot, as well as actuator control algorithms are often not taken into account when relying on simulation results. In this paper we present a continuous integration approach to verify simulated robot models in an integrated and frequent manner, comprising a simulated and a real robot for comparison. The central aspect of our concept is to iteratively assess the fidelity of simulated robot models. In an exemplary case study we distilled a first set of requirements and metrics, which can be used by developers to verify their algorithms and to automatically detect further system changes.


Real Robot Control Server Simulation Engine Axis Angle Robot Model 
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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Carpin, S., Lewis, M., Wang, J., Balakirsky, S., Scrapper, C.: USARSim: a robot simulator for research and education. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 1400–1405. IEEE (April 2007)Google Scholar
  2. 2.
    Duvall, P., Steve, M., Glover, A.: Continuous integration: improving software quality and reducing risk, 1st edn. Addison-Wesley Professional (2007)Google Scholar
  3. 3.
    Echeverria, G., Lassabe, N., Degroote, A., Lemaignan, S.: Modular openrobots simulation engine: Morse. In: Proceedings of the IEEE ICRA (2011)Google Scholar
  4. 4.
    Holck, J., Jørgensen, N.: Continuous integration and quality assurance: a case study of two open source projects. Australasian Journal of Information Systems 11(1) (2007)Google Scholar
  5. 5.
    Lütkebohle, I., Hegel, F., Schulz, S., Hackel, M., Wrede, B., Wachsmuth, S., Sagerer, G.: The bielefeld anthropomorphic robot head flobi. In: 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 3384–3391 (May 2010)Google Scholar
  6. 6.
    Okamoto, S., Kurose, K., Saga, S., Ohno, K., Tadokoro, S.: Validation of Simulated Robots with Realistically Modeled Dimensions and Mass in USARSim. In: 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, pp. 77–82. IEEE (October 2008)Google Scholar
  7. 7.
    Pepper, C., Balakirsky, S., Scrapper, C.: Robot simulation physics validation. In: Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems - PerMIS 2007, pp. 97–104. ACM Press, New York (2007)CrossRefGoogle Scholar
  8. 8.
    Roalter, L., Möller, A., Diewald, S., Kranz, M.: Developing intelligent environments. In: Seventh International Conference on Intelligent Environments (2011)Google Scholar
  9. 9.
    Taylor, B.K., Balakirsky, S., Messina, E., Quinn, R.D.: Design and validation of a Whegs robot in USARSim. In: 2007 Workshop on Performance Metrics for Intelligent Systems - PerMIS 2007, pp. 105–112. ACM Press, New York (2007)CrossRefGoogle Scholar
  10. 10.
    Taylor, B.K., Balakirsky, S., Messina, E., Quinn, R.D.: Modeling, validation and analysis of a Whegs robot in the USARSim environment. In: Proceedings of SPIE, vol. 6962, pp. 69621B–69621B–12 (2008)Google Scholar
  11. 11.
    Tikhanoff, V., Cangelosi, A., Fitzpatrick, P., Metta, G., Natale, L., Nori, F.: An open-source simulator for cognitive robotics research: the prototype of the icub humanoid robot simulator. In: Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems, PerMIS 2008, pp. 57–61. ACM (2008)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Florian Lier
    • 1
  • Simon Schulz
    • 1
  • Ingo Lütkebohle
    • 2
  1. 1.Center of Excellence Cognitive Interaction Technology (CITEC)BielefeldGermany
  2. 2.CoR-Lab Research Institute for Cognition and RoboticsBielefeldGermany

Personalised recommendations