Multilevel Testing of Control Software for Teams of Autonomous Mobile Robots

Authors:
Sebastian Petters;Dirk Thomas;Martin Friedmann;Oskar Stryk
Affiliations:
Department of Computer Science, Technische Universität Darmstadt, Darmstadt, Germany D-64289;Department of Computer Science, Technische Universität Darmstadt, Darmstadt, Germany D-64289;Department of Computer Science, Technische Universität Darmstadt, Darmstadt, Germany D-64289;Department of Computer Science, Technische Universität Darmstadt, Darmstadt, Germany D-64289
Venue:
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Year:
2008

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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.