Testing an Underwater Robot Executing Transect Missions in Mayotte - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2020

Testing an Underwater Robot Executing Transect Missions in Mayotte

Abstract

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.
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Dates and versions

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

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Cite

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⟩
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