Integration testing criteria for mobile robotic systems

Testing activity applied to mobile robotic systems is a challenge because new features, such as non-determinism of inputs, communication among components and time constraints must be considered. Simulation has been used to support the development and validation of these systems. Coverage testing criteria can contribute to this scenario adding mechanisms for measuring quality during the development of systems. This paper presents a test model and a set of coverage criteria to test the interaction among the components of mobile robotic systems. The model and criteria focus on robotic systems developed in ROS, a Robotic Operational System in which communication is established through publish/subscribe interaction schema. The testing criteria were evaluated using a robotic application. The results confirm that the use of coverage testing criteria has advantages for integration testing of mobile robotic systems.