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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Microsoft Robotics Studio (2007), http://msdn.microsoft.com/robotics/
OMG Object Management Group. CORBA - Common Object Request Broker Architecture (2007), http://www.corba.org
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)
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)
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)
Koenig, N., Howard, A.: Gazebo - 3D multiple robot simulator with dynamics (2003), http://playerstage.sourceforge.net/gazebo/gazebo.html
Gostai. Urbi - Universal Real-time Behavior Interface (2008), http://www.urbiforge.com
Michel, O.: Cyberbotics ltd. - webots(tm): Professional mobile robot simulation. Intl. Journal of Advanced Robotic Systems 1(1), 39–42 (2004)
Konolige, K.: Saphira robot control architecture. Technical report, SRI International (2002)
Smith, R.: ODE - Open Dynamics Engine (2007), http://www.ode.org
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)
AGEIA PhysX website (2007), http://www.ageia.com/physx/
Epic games, unreal engine (2007), http://www.epicgames.com
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)
Ntafos, S.C.: A comparison of some structural testing strategies. IEEE Trans. Softw. Eng. 14(6), 868–874 (1988)
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)
Figueiredo, J., Lau, N., Pereira, A.: Multi-agent debugging and monitoring framework. In: First Proc. IFAC Workshop on Multivehicle Systems (MVS 2006), Brazil (2006)
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)
Petters, S., Thomas, D.: RoboFrame website (2008), http://www.roboframe.info
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)
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)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Petters, S., Thomas, D., Friedmann, M., von Stryk, O. (2008). Multilevel Testing of Control Software for Teams of Autonomous Mobile Robots. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2008. Lecture Notes in Computer Science(), vol 5325. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89076-8_20
Download citation
DOI: https://doi.org/10.1007/978-3-540-89076-8_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89075-1
Online ISBN: 978-3-540-89076-8
eBook Packages: Computer ScienceComputer Science (R0)