%0 Journal Article
	%A Arne Hitzmann and  Philipp Wentscher and  Alexander Gabel and  Reinhard Gerndt
	%D 2014
	%J International Journal of Mechanical and Materials Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 89, 2014
	%T Automated Testing of Workshop Robot Behavior
	%U https://publications.waset.org/pdf/9998147
	%V 89
	%X Autonomous mobile robots can be found in a wide
field of applications. Their types range from household robots over
workshop robots to autonomous cars and many more. All of them
undergo a number of testing steps during development, production
and maintenance. This paper describes an approach to improve
testing of robot behavior. It was inspired by the RoboCup @work
competition that itself reflects a robotics benchmark for industrial
robotics. There, scaled down versions of mobile industrial robots
have to navigate through a workshop-like environment or operation
area and have to perform tasks of manipulating and transporting
work pieces. This paper will introduce an approach of automated
vision-based testing of the behavior of the so called youBot robot,
which is the most widely used robot platform in the RoboCup
@work competition. The proposed system allows automated testing
of multiple tries of the robot to perform a specific missions and
it allows for the flexibility of the robot, e.g. selecting different
paths between two tasks within a mission. The approach is based
on a multi-camera setup using, off the shelf cameras and optical
markers. It has been applied for test-driven development (TDD) and
maintenance-like verification of the robot behavior and performance.

	%P 732 - 735