Domain Specific Modeling Language for Test World Generation

Jill Alexander (Boise State University)
Alex Pyryt (Univ. of Maryland Baltimore County)

It is often necessary to use a 3D physics simulator in order to model and test complex robotic systems. Verifying certain behaviors of systems in the real world can be costly, time-consuming, and even dangerous, while simulations are relatively cheap and fast. However, creating simulated environments to test robotic behaviors can take up quite a lot of time and processing power. In order for behaviors to be tested in a variety of scenarios, multiple environments must be created, causing verification time to increase. This paper presents a domain-specific modeling language that can be used to speed up this process. This modeling language can be used in WebGME to generate multiple world and launch files in Gazebo, a 3D dynamics simulator. These world files can then be used to test various behaviors of complex robots such as the CAT Vehicle (Cognitive and Autonomous Test Vehicle) in a variety of simulated environments. This model language can save valuable testing time by quickly creating usable test files for complex physics based models such as the CAT Vehicle.

Jill Alexander (Boise State University) Alex Pyryt (Univ. of Maryland Baltimore County)