Systematic and Realistic Testing in Simulation of Control Code for Robots in Collaborative Human-Robot Interactions

Dejanira Araiza Illan, David Western, Anthony Pipe, Kerstin Eder

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

19 Citations (Scopus)
354 Downloads (Pure)


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 human-robot 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.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication17th Annual Conference, TAROS 2016, Sheffield, UK, June 26--July 1, 2016, Proceedings
EditorsLyuba Alboul, Dana Damian, Jonathan M Aitken
Number of pages13
ISBN (Electronic)9783319403793
ISBN (Print)9783319403786
Publication statusPublished - 2016
Event17th Towards Autonomous Robotic Systems (TAROS) - University of Sheffield, Sheffield, United Kingdom
Duration: 28 Jun 201630 Jun 2016

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Verlag
ISSN (Print)0302-9743


Conference17th Towards Autonomous Robotic Systems (TAROS)
Country/TerritoryUnited Kingdom


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