Testing an Underwater Robot Executing Transect Missions in Mayotte - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Accéder directement au contenu
Communication Dans Un Congrès Année : 2020

Testing an Underwater Robot Executing Transect Missions in Mayotte

Résumé

In this paper, we present an approach to test underwater robots with a mission perspective. We propose five classes of oracle mission properties, used to perform test verification and evaluation: mission phases, time, energy, safety and localization. We study how these properties can be used, using data from the generated logs and analyzing the set of measurements. We apply this methodology on our semi-AUV prototype which executes autonomously biologic observation protocols in the Mayotte lagoon. For that we use an offline oracle property checker, and we focus on the issues of test acceptance criteria and ground truth despite low cost localization sensors. Results and lessons learned from this experiment are presented.
Fichier principal
Vignette du fichier
TAROS_2020_VFinale.pdf (1.33 Mo) Télécharger le fichier
Loading...

Dates et versions

lirmm-02895512 , version 1 (13-07-2020)

Identifiants

Citer

Adrien Hereau, Karen Godary-Dejean, Jérémie Guiochet, Clément Robert, Thomas Claverie, et al.. Testing an Underwater Robot Executing Transect Missions in Mayotte. TAROS 2020 - 21st Annual Conference Towards Autonomous Robotic Systems, Sep 2020, Virtual, United Kingdom. pp.116-127, ⟨10.1007/978-3-030-63486-5_14⟩. ⟨lirmm-02895512⟩
226 Consultations
475 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More