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proponente: Alcino Cunha e Nuno Macedo
instituição/empresa: Universidade do Minho
tema/título: Integration Testing for Robotic Software
área científica: Software Engineering
local: Braga
curso de mestrado: Mestrado Integrado em Engenharia Informática
descrição:
Developing robust robotic systems is a burdensome and error-prone task, since several complex and
heterogeneous subsystems must be integrated into a configurable and adaptable system. The Robot
Operating System (ROS, http://wiki.ros.org) is a popular open-source framework for building and
deploying robotic applications, whose large community has contributed packages ranging from
proof-of-concept implementations to industrial-level drivers and capabilities. Roughly, the
architecture of a ROS-based robot consists on a set of independent nodes communicating messages
through topics in a publisher-subscriber paradigm. As in any complex system, testing plays a fundamental role in guaranteeing the quality of the final
ROS software product. In highly modular systems such as those built over ROS, besides testing the
individual subsystems, it is also crucial to perform integration testing to assess whether the
subsystems interact as expected. Moreover, when testing cyber-physical systems there is the need to
somehow simulate the physical world with which the sensors and actuators are expected to
interact. ROS has extensive functionalities for the simulation of robots and also provides support for the
definition of unit tests. However, these technologies are ill-suited for the design of system-level
integration tests, encumbering the test designer with low-level technical details. The goal of this
thesis is to explore potential languages for the specification of system-wide properties of ROS
architectures, and to operationalize their testing using existing ROS technologies, reducing the
burden on the developer.


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