Model-based testing of a real-time adaptive motion planning system

AbstractTo enable effective and safe operations of autonomous robots in environments with unknowns and unpredictability, a key practical problem is how to test the functionality and assess the performance of real-time motion planning systems. This is a challenge because the underlying algorithms are real-time, sensing-based, and often non-deterministic. These systems’ performance depends on task environments, which can vary in countless ways. Existing testing techniques are designed heavily based on testers’ experience and hardly provide a good coverage of possible test scenarios. This paper introduces a systematic model-based testing (MBT) approach to evaluate the functionality and performance of a real-time adaptive motion planning (RAMP) system. The MBT approach uses the formal communicating extended finite state machine model to model RAMP’s concurrent components and leverage graph traversal algorithms to systematically generate behavioral test cases. First, component integration is considered by mode...

[1]  Anneliese Amschler Andrews,et al.  World model for testing Urban Search and Rescue (USAR) robots using Petri Nets , 2016, 2016 4th International Conference on Model-Driven Engineering and Software Development (MODELSWARD).

[2]  Jing Xiao,et al.  Model-based testing of real-time adaptive motion planning (RAMP) , 2016, 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR).

[3]  Jing Xiao,et al.  Real-Time Adaptive Motion Planning (RAMP) of Mobile Manipulators in Dynamic Environments With Unforeseen Changes , 2008, IEEE Transactions on Robotics.

[4]  Brian A. Weiss,et al.  Test arenas and performance metrics for urban search and rescue robots , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[5]  Wolfram Burgard,et al.  MINERVA: a second-generation museum tour-guide robot , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[6]  C. Scrapper,et al.  Robot simulation physics validation , 2007, PerMIS.

[7]  Anneliese Amschler Andrews,et al.  Active World Model for Testing Autonomous Systems Using CEFSM , 2015, MoDeVVa@MoDELS.

[8]  Andrew Howard,et al.  Design and use paradigms for Gazebo, an open-source multi-robot simulator , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[9]  Noury Bouraqadi,et al.  A methodology for testing mobile autonomous robots , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Anneliese Amschler Andrews,et al.  Towards world model-based test generation in autonomous systems , 2015, 2015 3rd International Conference on Model-Driven Engineering and Software Development (MODELSWARD).

[11]  Lorenzo Natale,et al.  A Generic Testing Framework for Test Driven Development of Robotic Systems , 2015, MESAS.

[12]  Jing Guan,et al.  A model-based testing technique for component-based real-time embedded systems , 2015, 2015 IEEE Eighth International Conference on Software Testing, Verification and Validation Workshops (ICSTW).

[13]  Jing Xiao,et al.  Real-time adaptive non-holonomic motion planning in unforeseen dynamic environments , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[14]  Anneliese Amschler Andrews,et al.  World Model for Testing Autonomous Systems Using Petri Nets , 2016, 2016 IEEE 17th International Symposium on High Assurance Systems Engineering (HASE).

[15]  Eric G. Manning,et al.  On the Progress of Communications between Two Finite State Machines , 1984, Inf. Control..

[16]  A. Jefferson Offutt,et al.  Introduction to Software Testing , 2008 .

[17]  Edmund M. Clarke,et al.  Model Checking , 1999, Handbook of Automated Reasoning.

[18]  R.-D. Yang,et al.  A path analysis approach to concurrent program testing , 1990, Ninth Annual International Phoenix Conference on Computers and Communications. 1990 Conference Proceedings.

[19]  Kwang-Ting Cheng,et al.  Automatic Functional Test Generation Using The Extended Finite State Machine Model , 1993, 30th ACM/IEEE Design Automation Conference.

[20]  Francesca Saglietti,et al.  Testing the cooperation of autonomous robotic agents , 2014, 2014 9th International Conference on Software Engineering and Applications (ICSOFT-EA).

[21]  Wolfram Burgard,et al.  Experiences with an Interactive Museum Tour-Guide Robot , 1999, Artif. Intell..

[22]  Daniel Brand,et al.  On Communicating Finite-State Machines , 1983, JACM.

[23]  Rajesh Subramanyan,et al.  A survey on model-based testing approaches: a systematic review , 2007, WEASELTech '07.

[24]  Girma S. Tewolde,et al.  Tour guide robot using wireless based localization , 2013, IEEE International Conference on Electro-Information Technology , EIT 2013.