arXiv 2004.073682020-04-15cs.ROcs.SE

使用机器人模拟器进行测试的挑战研究

A Study on the Challenges of Using Robotics Simulators for Testing

Carnegie Mellon University（卡内基梅隆大学）

Afsoon Afzal, Deborah S. Katz, Claire Le Goues, Christopher S. Timperley

摘要：

机器人仿真在机器人系统的设计、开发和验证中起着重要的作用。最近的研究表明，模拟可以作为一个更便宜，更安全，更可靠的替代手动，广泛使用，现场测试过程。这在持续集成管道的背景下尤其重要，其中集成的自动化测试是降低成本同时保持系统安全的关键。然而，模拟和自动化测试在实践中并没有达到其潜力所能激励的广泛采用程度。本文的目标是对开发人员在其过程中使用模拟的方式以及他们在这样做时面临的挑战有一个原则性的理解。这种类型的理解可以指导更有效的模拟器和测试技术的发展，为现代机器人的发展。为此，我们对来自不同背景的82名机器人开发人员进行了调查，以解决模拟技术在实践中的当前能力和局限性。我们发现85%的参与者使用模拟进行测试，并且许多参与者希望将模拟作为其测试自动化的一部分。我们确定了10个高层次的挑战，阻碍开发人员使用模拟手动和自动化测试，以及一般用途。这些挑战包括模拟和现实之间的差距，缺乏可重复性，以及与使用模拟器相关的相当大的资源成本。最后，我们概述了改进新的模拟器，可以帮助模拟达到其潜力的验证和确认的手段的发展途径。

英文摘要：

Robotics simulation plays an important role in the design, development, and verification and validation of robotic systems. Recent studies have shown that simulation may be used as a cheaper, safer, and more reliable alternative to manual, and widely used, process of field testing. This is particularly important in the context of continuous integration pipelines, where integrated automated testing is key to reducing costs while maintaining system safety. However, simulation and automated testing are not seeing the degree of widespread adoption in practice that their potential would motivate. Our goal in this paper is to develop a principled understanding of the ways developers use simulation in their process, and the challenges they face in doing so. This type of understanding can guide the development of more effective simulators and testing techniques for modern robotics development. To that end, we conduct a survey of 82 robotics developers from a diversity of backgrounds that addresses the current capabilities and limits of simulation technology in practice. We find that simulation is used by 85% of our participants for testing, and that many participants desire to use simulation as part of their test automation. We identify 10 high-level challenges that impede developers from using simulation for manual and automated testing, and general purposes. These challenges include the gap between simulation and reality, a lack of reproducibility, and considerable resource costs associated with using simulators. Finally, we outline avenues for improvement in the development of new simulators that can help simulation reach its potential as a means of verification and validation.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

摘要：

英文摘要：

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