Integration testing criteria for mobile robotic systems

Testing activity applied to mobile robotic systems is a challenge because new features, such as non-determinism of inputs, communication among components and time constraints must be considered. Simulation has been used to support the development and validation of these systems. Coverage testing criteria can contribute to this scenario adding mechanisms for measuring quality during the development of systems. This paper presents a test model and a set of coverage criteria to test the interaction among the components of mobile robotic systems. The model and criteria focus on robotic systems developed in ROS, a Robotic Operational System in which communication is established through publish/subscribe interaction schema. The testing criteria were evaluated using a robotic application. The results confirm that the use of coverage testing criteria has advantages for integration testing of mobile robotic systems.

[1]  Hong-Seong Park,et al.  A Hierarchical Test Model and Automated Test Framework for RTC , 2009, FGIT.

[2]  Feng Qin,et al.  SyncChecker: Detecting Synchronization Errors between MPI Applications and Libraries , 2012, 2012 IEEE 26th International Parallel and Distributed Processing Symposium.

[3]  Kaushik Velusamy,et al.  Modern Operating Systems , 2015 .

[4]  Zijiang Yang,et al.  HAVE: Detecting Atomicity Violations via Integrated Dynamic and Static Analysis , 2009, FASE.

[5]  Simone do Rocio Senger de Souza,et al.  Structural testing criteria for message‐passing parallel programs , 2008, Concurr. Comput. Pract. Exp..

[6]  Gaurav S. Sukhatme,et al.  Most valuable player: a robot device server for distributed control , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[7]  Sang-Woo Maeng,et al.  SITAT: Simulation-based interface testing automation tool for robot software component , 2010, ICCAS 2010.

[8]  Ed Zaluska,et al.  Using Coverage and Reachability Testing to Improve Concurrent Program Testing Quality , 2011, SEKE.

[9]  Luca Faust,et al.  Modern Operating Systems , 2016 .

[10]  Peter Kazanzides,et al.  A component-based architecture for flexible integration of robotic systems , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Anne-Marie Kermarrec,et al.  The many faces of publish/subscribe , 2003, CSUR.

[12]  Hareton Leung,et al.  A study of integration testing and software regression at the integration level , 1990, Proceedings. Conference on Software Maintenance 1990.

[13]  Yosi Ben-Asher,et al.  Producing scheduling that causes concurrent programs to fail , 2006, PADTAD '06.

[14]  David S. Rosenblum,et al.  Detecting problematic message sequences and frequencies in distributed systems , 2012, OOPSLA '12.

[15]  Fernando Santos Osório,et al.  CaRINA Intelligent Robotic Car: Architectural design and applications , 2014, J. Syst. Archit..

[16]  Herman Bruyninckx,et al.  Open robot control software: the OROCOS project , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[17]  Ed Zaluska,et al.  Structural testing for message‐passing concurrent programs: an extended test model , 2014, Concurr. Comput. Pract. Exp..

[18]  Alexei Makarenko,et al.  Orca: A Component Model and Repository , 2005, PPSDR@ICRA.

[19]  Roger S. Pressman,et al.  Software Engineering: A Practitioner's Approach (McGraw-Hill Series in Computer Science) , 2004 .

[20]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[21]  Hong Seong Park,et al.  RPIST: Required and provided interface specification-based test case generation and execution methodology for robot software component , 2011, 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI).

[22]  Roger S. Pressman,et al.  Software Engineering: A Practitioner's Approach , 1982 .