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Coverage-driven verification — An approach to verify code for robots that directly interact with humans

Pipe, Anthony; Araiza-Illan, Dejanira; Western, David; Pipe, Anthony G.; Eder, Kerstin


Anthony Pipe

Dejanira Araiza-Illan

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David Western
Wallscourt Fellow in Health Technology

Kerstin Eder


© Springer International Publishing Switzerland 2015. Collaborative robots could transform several industries, such as manufacturing and healthcare, but they present a significant challenge to verification. The complex nature of their working environment necessitates testing in realistic detail under a broad range of circumstances. We propose the use of Coverage-Driven Verification (CDV) to meet this challenge. By automating the simulation-based testing process as far as possible, CDV provides an efficient route to coverage closure. We discuss the need, practical considerations, and potential benefits of transferring this approach from microelectronic design verification to the field of human-robot interaction. We demonstrate the validity and feasibility of the proposed approach by constructing a custom CDV testbench and applying it to the verification of an object handover task.


Pipe, A., Araiza-Illan, D., Western, D., Pipe, A. G., & Eder, K. (2015). Coverage-driven verification — An approach to verify code for robots that directly interact with humans. Lecture Notes in Artificial Intelligence, 9434, 69-84.

Journal Article Type Conference Paper
Acceptance Date Nov 1, 2015
Publication Date Jan 1, 2015
Journal Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Print ISSN 0302-9743
Electronic ISSN 1611-3349
Publisher Springer Verlag
Peer Reviewed Peer Reviewed
Volume 9434
Pages 69-84
Book Title Hardware and Software: Verification and Testing
Keywords robot-human interaction, code verification, coverage-driven
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