Author manuscript, published in "12th European Workshop on Dependable Computing, EWDC 2009, Toulouse : France (2009)"
Robustness Testing of Robot Controller Software Hoang-Nam Chu∗§ , Jean Arlat∗§ , Marc-Olivier Killijian∗§ , Benjamin Lussier∗§ and David Powell∗§ ∗ CNRS
§ Universit´e
; LAAS ; 7 avenue du Colonel Roche, F-31077 Toulouse, France de Toulouse ; UPS, INSA, INP, ISAE ; LAAS ; F-31077 Toulouse, France Email:
[email protected]
Abstract—The LAAS architecture [1] is a three-layer software architecture for real-time control of mobile robots, that has been used successfully in several systems. To improve its robustness, the architecture is currently being restructured with BIP [2] (Behavior - Interaction - Priority). In this paper, we describe a fault injection approach for testing the architecture’s robustness.
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Keywords—Robustness testing, fault injection, experimental evaluation, autonomous system.
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hal-00381686, version 1 - 12 May 2009
I. I NTRODUCTION
1 MARAE is partially funded by the “Fondation Nationale pour la Recherche en A´eronautique et l’Espace”. The project consortium is LAAS-CNRS, Verimag, and Astrium Espace
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