Abstract
In this paper, we present an approach to test underwater robots with a mission perspective. We propose five classes of oracle mission properties, used to perform test verification and evaluation: mission phases, time, energy, safety and localization. We study how these properties can be used, using data from the generated logs and analyzing the set of measurements. We apply this methodology on our semi-AUV prototype which executes autonomously biologic observation protocols in the Mayotte lagoon. For that we use an offline oracle property checker, and we focus on the issues of test acceptance criteria and ground truth despite low cost localization sensors. Results and lessons learned from this experiment are presented.
This work is part of the BUBOT project (http://www.lirmm.fr/bubot/) funded through the national research agency ANR under the PIA ANR-16-IDEX-0006. It has also partially been funded by the CUFR of Mayotte, the Occitanie region and the CNRS/IRD natural hazard challenge.
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Hereau, A., Godary-Dejean, K., Guiochet, J., Robert, C., Claverie, T., Crestani, D. (2020). Testing an Underwater Robot Executing Transect Missions in Mayotte. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_14
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