Can robot navigation bugs be found in simulation? An exploratory study

Thierry Sotiropoulos 1 Hélène Waeselynck 1 Jérémie Guiochet 1 Félix Ingrand 2
1 LAAS-TSF - Équipe Tolérance aux fautes et Sûreté de Fonctionnement informatique
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
2 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : The ability to navigate in diverse and previously unknown environments is a critical service of autonomous robots. The validation of the navigation software typically involves test campaigns in the field, which are costly and potentially risky for the robot itself or its environment. An alternative approach is to perform simulation-based testing, by immersing the software in virtual worlds. A question is then whether the bugs revealed in real worlds can also be found in simulation. The paper reports on an exploratory study of bugs in an academic software for outdoor robots navigation. The detailed analysis of the triggers and effects of these bugs shows that most of them can be revealed in low-fidelity simulation. It also provides insights into interesting navigation scenarios to test as well as into how to address the test oracle problem.
Document type :
Conference papers
IEEE Computer Society Conference Publishing Services (CPS). 2017 IEEE International Conference on Software Quality, Reliability and Security (QRS2017), Jul 2017, Prague, France. Proceedings of the 2017 IEEE International Conference on Software Quality, Reliability and Security, 2017, <http://paris.utdallas.edu/qrs17/>
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Submitted on : Tuesday, June 13, 2017 - 12:55:20 PM
Last modification on : Friday, June 23, 2017 - 9:55:21 AM

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Thierry Sotiropoulos, Hélène Waeselynck, Jérémie Guiochet, Félix Ingrand. Can robot navigation bugs be found in simulation? An exploratory study. IEEE Computer Society Conference Publishing Services (CPS). 2017 IEEE International Conference on Software Quality, Reliability and Security (QRS2017), Jul 2017, Prague, France. Proceedings of the 2017 IEEE International Conference on Software Quality, Reliability and Security, 2017, <http://paris.utdallas.edu/qrs17/>. <hal-01534235>

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