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Property-Based Testing in Simulation for Verifying Robot Action Execution in Tabletop Manipulation

  • An important prerequisite for the reliability and robustness of a service robot is ensuring the robot’s correct behavior when it performs various tasks of interest. Extensive testing is one established approach for ensuring behavioural correctness; this becomes even more important with the integration of learning-based methods into robot software architectures, as there are often no theoretical guarantees about the performance of such methods in varying scenarios. In this paper, we aim towards evaluating the correctness of robot behaviors in tabletop manipulation through automatic generation of simulated test scenarios in which a robot assesses its performance using property-based testing. In particular, key properties of interest for various robot actions are encoded in an action ontology and are then verified and validated within a simulated environment. We evaluate our framework with a Toyota Human Support Robot (HSR) which is tested in a Gazebo simulation. We show that our framework can correctly and consistently identify various failed actions in a variety of randomised tabletop manipulation scenarios, in addition to providing deeper insights into the type and location of failures for each designed property.

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Metadaten
Document Type:Conference Object
Language:English
Author:Salman Omar Sohail, Alex MitrevskiORCiD, Nico Hochgeschwender, Paul G. Plöger
Parent Title (English):Proceedings of the European Conference on Mobile Robots (ECMR), 31 Aug.-3 Sept. 2021, Bonn, Germany
Pagenumber:7
ISBN:978-1-6654-1213-1
DOI:https://doi.org/10.1109/ECMR50962.2021.9568837
ArXiv Id:http://arxiv.org/abs/2108.08726
Publisher:IEEE
Date of first publication:2021/10/22
Copyright:©2021 IEEE
Funding Information:This work was supported by the b-it foundation and by the European Union’s Horizon 2020 project SESAME (grant agreement No. 101017258)
Keyword:property-based testing for robots; simulation-based robot testing; verification and validation of robot action execution
Departments, institutes and facilities:Fachbereich Informatik
Institut für Cyber Security & Privacy (ICSP)
Projects:SESAME Secure and Safe Multi-Robot Systems (EC/H2020/101017258)
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2021/07/19