01697nas a2200181 4500008004100000245006200041210006200103260004700165520109000212653002401302653000901326653001501335100002001350700001601370700001901386700002101405856008901426 2019 eng d00aDomain Specific Modeling Language for Test World Creation0 aDomain Specific Modeling Language for Test World Creation aTucsonbThe University of Arizonac08/20193 a
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.
10aautonomous vehicles10adsml10asimulation1 aAlexander, Jill1 aPyryt, Alex1 aBhadani, Rahul1 aBunting, Matthew uhttp://csl.arizona.edu/content/domain-specific-modeling-language-test-world-creation