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<p>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.</p>
10aautonomous vehicles10adsml10asimulation1 aAlexander, Jill1 aPyryt, Alex1 aBhadani, Rahul1 aBunting, Matthew  uhttp://csl.arizona.edu/content/domain-specific-modeling-language-test-world-creation