BIBLIOS

   Sistema de Gestão de Referências Bibliográficas de Ciências

Modo Visitante (Login)
Need help?


Voltar

Detalhes Referência

Tipo
Artigos em Conferência

Tipo de Documento
Artigo Completo

Título
Is it a Bug? Understanding Physical Unit Mismatches in Robot Software

Participantes na publicação
Paulo Canelas (Author)
Dep. Informática
 Unidade de I&D e Inovação
 LASIGE
 Trenton Tabor (Author)
John-Paul Ore (Author)
Alcides Fonseca (Author)
Dep. Informática
 LASIGE
 Claire Le Goues (Author)
Christopher S. Timperley (Author)

Resumo
Robot software is abundant with variables that represent real-world physical units (eg, meters, seconds). Operations over different units (eg, adding meters and seconds) may be incorrect and can lead to dangerous system misbehaviors; manually detecting such mistakes is challenging. Current software analysis techniques identify such mismatches using dimensional analysis rules and ROS-specific assumptions to analyze the source code. However, these are ignorant of the fact that physical unit mismatches in robotics code are often intentional (eg, when operating a differential drive robot), resulting in false positive bug reports that can impede robotics developer trust and productivity. In this work, we study how developers introduce physical unit mismatches by manually inspecting 180 errors detected by the software analysis technique, Phys. We identify three types of physical unit mismatches and present a taxonomy of eight high-level categories of how these errors manifest. We find that developers often make unforced and paradigmatic physical unit mismatches through differential drives, small angle approximations, and controls. We draw insights on current development to inform future research to better detect, categorize, and address meaningful physical unit mismatches.

Data de Submissão/Pedido
2023-09-15
Data de Aceitação
2024-01-15
Data de Publicação
2024-05-13

Instituição
FACULDADE DE CIÊNCIAS DA UNIVERSIDADE DE LISBOA

Evento
IEEE International Conference on Robotics and Automation (ICRA)

Identificadores da Publicação

Local
Yokohama, Japan

Editora
IEEE

Volume
3

Número de Páginas
7
Página Inicial
4819
Página Final
4826

Identificadores do Documento
DOI - https://doi.org/10.1109/ICRA57147.2024.10611413
ISBN - 979-8-3503-8457-4

Identificadores de Qualidade
CORE A* (2025) -

Keywords
Empirical Study Physical Units Robotic Systems


Exportar referência

APA
Paulo Canelas, Trenton Tabor, John-Paul Ore, Alcides Fonseca, Claire Le Goues, Christopher S. Timperley, (2024). Is it a Bug? Understanding Physical Unit Mismatches in Robot Software. IEEE International Conference on Robotics and Automation (ICRA), 4819-4826

IEEE
Paulo Canelas, Trenton Tabor, John-Paul Ore, Alcides Fonseca, Claire Le Goues, Christopher S. Timperley, "Is it a Bug? Understanding Physical Unit Mismatches in Robot Software" in IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 4819-4826, doi: 10.1109/ICRA57147.2024.10611413

BIBTEX
@InProceedings{61786, author = {Paulo Canelas and Trenton Tabor and John-Paul Ore and Alcides Fonseca and Claire Le Goues and Christopher S. Timperley}, title = {Is it a Bug? Understanding Physical Unit Mismatches in Robot Software}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = 2024, pages = {4819-4826}, address = {Yokohama, Japan}, publisher = {IEEE} }