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Systematic and realistic testing in simulation of control code for robots in collaborative human-robot interactions

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

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Dejanira Araiza-Illan

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David Western
Wallscourt Fellow in Health Technology

Kerstin Eder


Lyuba Alboul

Dana Damian

Jonathan M. Aitken


© Springer International Publishing Switzerland 2016. Industries such as flexible manufacturing and home care will be transformed by the presence of robotic assistants. Assurance of safety and functional soundness for these robotic systems will require rigorous verification and validation. We propose testing in simulation using Coverage-Driven Verification (CDV) to guide the testing process in an automatic and systematic way. We use a two-tiered test generation approach, where abstract test sequences are computed first and then concretized (e.g., data and variables are instantiated), to reduce the complexity of the test generation problem. To demonstrate the effectiveness of our approach, we developed a testbench for robotic code, running in ROS-Gazebo, that implements an object handover as part of a humanrobot interaction (HRI) task. Tests are generated to stimulate the robot’s code in a realistic manner, through stimulating the human, environment, sensors, and actuators in simulation. We compare the merits of unconstrained, constrained and model-based test generation in achieving thorough exploration of the code under test, and interesting combinations of human-robot interactions. Our results show that CDV combined with systematic test generation achieves a very high degree of automation in simulation-based verification of control code for robots in HRI.

Presentation Conference Type Conference Paper (published)
Acceptance Date Apr 13, 2016
Publication Date Jan 1, 2016
Deposit Date Jul 4, 2016
Publicly Available Date Jul 28, 2016
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 9716
Pages 20-32
Series Title Lecture Notes in Computer Science
Book Title Towards Autonomous Robotic Systems
ISBN 9783319403786
Keywords control code simulation, human-robot interactions
Public URL
Publisher URL
Contract Date Jul 28, 2016


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