{"id":"https://openalex.org/W3186464341","doi":"https://doi.org/10.1109/ecmr50962.2021.9568837","title":"Property-Based Testing in Simulation for Verifying Robot Action Execution in Tabletop Manipulation","display_name":"Property-Based Testing in Simulation for Verifying Robot Action Execution in Tabletop Manipulation","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3186464341","doi":"https://doi.org/10.1109/ecmr50962.2021.9568837","mag":"3186464341"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr50962.2021.9568837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2108.08726","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008330346","display_name":"Salman Omar Sohail","orcid":"https://orcid.org/0009-0008-9562-9691"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Salman Omar Sohail","raw_affiliation_strings":["Autonomous Systems Group, Hochschule Bonn-Rhein-Sieg, Germany","Hochschule Bonn-Rhein-Sieg,Autonomous Systems Group,Department of Computer Science,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Group, Hochschule Bonn-Rhein-Sieg, Germany","institution_ids":["https://openalex.org/I155417937"]},{"raw_affiliation_string":"Hochschule Bonn-Rhein-Sieg,Autonomous Systems Group,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023481815","display_name":"Alex Mitrevski","orcid":"https://orcid.org/0000-0003-3591-3160"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alex Mitrevski","raw_affiliation_strings":["Autonomous Systems Group, Hochschule Bonn-Rhein-Sieg, Germany","Hochschule Bonn-Rhein-Sieg,Autonomous Systems Group,Department of Computer Science,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Group, Hochschule Bonn-Rhein-Sieg, Germany","institution_ids":["https://openalex.org/I155417937"]},{"raw_affiliation_string":"Hochschule Bonn-Rhein-Sieg,Autonomous Systems Group,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075287635","display_name":"Nico Hochgeschwender","orcid":"https://orcid.org/0000-0003-1306-7880"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nico Hochgeschwender","raw_affiliation_strings":["Autonomous Systems Group, Hochschule Bonn-Rhein-Sieg, Germany","Hochschule Bonn-Rhein-Sieg,Autonomous Systems Group,Department of Computer Science,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Group, Hochschule Bonn-Rhein-Sieg, Germany","institution_ids":["https://openalex.org/I155417937"]},{"raw_affiliation_string":"Hochschule Bonn-Rhein-Sieg,Autonomous Systems Group,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037388254","display_name":"Paul G. Pl\u00f6ger","orcid":"https://orcid.org/0000-0001-5563-5458"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Paul G. Ploger","raw_affiliation_strings":["Autonomous Systems Group, Hochschule Bonn-Rhein-Sieg, Germany","Hochschule Bonn-Rhein-Sieg,Autonomous Systems Group,Department of Computer Science,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Group, Hochschule Bonn-Rhein-Sieg, Germany","institution_ids":["https://openalex.org/I155417937"]},{"raw_affiliation_string":"Hochschule Bonn-Rhein-Sieg,Autonomous Systems Group,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I155417937"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14382845,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2245","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.9049043655395508},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7967058420181274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7233918905258179},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6013832092285156},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5371419191360474},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.47479552030563354},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45542022585868835},{"id":"https://openalex.org/keywords/behavior-based-robotics","display_name":"Behavior-based robotics","score":0.44650745391845703},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.42195582389831543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41808170080184937},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.412162721157074},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36555200815200806},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32760024070739746},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27101969718933105},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08047467470169067},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07454782724380493}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.9049043655395508},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7967058420181274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7233918905258179},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6013832092285156},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5371419191360474},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.47479552030563354},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45542022585868835},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.44650745391845703},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.42195582389831543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41808170080184937},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.412162721157074},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36555200815200806},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32760024070739746},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27101969718933105},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08047467470169067},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07454782724380493},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/ecmr50962.2021.9568837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2108.08726","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.08726","pdf_url":"https://arxiv.org/pdf/2108.08726","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3186464341","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2108.08726.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:pub.h-brs.de:5641","is_oa":false,"landing_page_url":"https://pub.h-brs.de/frontdoor/index/index/docId/5641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400385","display_name":"Publication Server of Bonn-Rhein-Sieg University of Applied Sciences (Bonn-Rhein-Sieg University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I135140700","host_organization_name":"University of Bonn","host_organization_lineage":["https://openalex.org/I135140700"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the European Conference on Mobile Robots (ECMR), 31 Aug.-3 Sept. 2021, Bonn, Germany","raw_type":"doc-type:conferenceobject"},{"id":"doi:10.48550/arxiv.2108.08726","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2108.08726","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2108.08726","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.08726","pdf_url":"https://arxiv.org/pdf/2108.08726","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3186464341.pdf","grobid_xml":"https://content.openalex.org/works/W3186464341.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W159496874","https://openalex.org/W1024721241","https://openalex.org/W1817672811","https://openalex.org/W2098088585","https://openalex.org/W2111168122","https://openalex.org/W2121077396","https://openalex.org/W2167340365","https://openalex.org/W2526758805","https://openalex.org/W2624823380","https://openalex.org/W2737067590","https://openalex.org/W2744218714","https://openalex.org/W2898421446","https://openalex.org/W2901136733","https://openalex.org/W2903123976","https://openalex.org/W2947311533","https://openalex.org/W2967311966","https://openalex.org/W2968176166","https://openalex.org/W2979711515","https://openalex.org/W2989981704","https://openalex.org/W2990912491","https://openalex.org/W3006904299","https://openalex.org/W3033722558","https://openalex.org/W3096293346","https://openalex.org/W3138484593","https://openalex.org/W3150631816","https://openalex.org/W6606518747","https://openalex.org/W6626666746","https://openalex.org/W6742744630","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2792294849","https://openalex.org/W2945854621","https://openalex.org/W1876411678","https://openalex.org/W15649538","https://openalex.org/W3085774669","https://openalex.org/W2790371374","https://openalex.org/W2518255983","https://openalex.org/W2402375243","https://openalex.org/W2229618818","https://openalex.org/W2288533078","https://openalex.org/W3019857990","https://openalex.org/W2796311951","https://openalex.org/W2025370287","https://openalex.org/W1554682999","https://openalex.org/W2757192185","https://openalex.org/W3090625186","https://openalex.org/W17180189","https://openalex.org/W3097068959","https://openalex.org/W1974163659","https://openalex.org/W2215996954"],"abstract_inverted_index":{"An":[0],"important":[1,39],"prerequisite":[2],"for":[3,31,104,176],"the":[4,14,41,58,73,170],"reliability":[5],"and":[6,114,118,149,172],"robustness":[7],"of":[8,23,43,60,75,84,102,158,174],"a":[9,90,121,129,139,156],"service":[10],"robot":[11,47,76,91,106],"is":[12,27,136],"ensuring":[13,32],"robot\u2019s":[15],"correct":[16],"behavior":[17],"when":[18],"it":[19],"performs":[20],"various":[21,105,152],"tasks":[22],"interest.":[24],"Extensive":[25],"testing":[26],"one":[28],"established":[29],"approach":[30],"behavioural":[33],"correctness;":[34],"this":[35,67],"becomes":[36],"even":[37],"more":[38],"with":[40,128],"integration":[42],"learning-based":[44],"methods":[45,62],"into":[46,169],"software":[48],"architectures,":[49],"as":[50],"there":[51],"are":[52,108,115],"often":[53],"no":[54],"theoretical":[55],"guarantees":[56],"about":[57],"performance":[59,94],"such":[61],"in":[63,78,88,110,138,155,163],"varying":[64],"scenarios.":[65],"In":[66,98],"paper,":[68],"we":[69],"aim":[70],"towards":[71],"evaluating":[72],"correctness":[74],"behaviors":[77],"tabletop":[79,160],"manipulation":[80,161],"through":[81],"automatic":[82],"generation":[83],"simulated":[85,122],"test":[86],"scenarios":[87],"which":[89,135],"assesses":[92],"its":[93],"using":[95],"property-based":[96],"testing.":[97],"particular,":[99],"key":[100],"properties":[101],"interest":[103],"actions":[107,154],"encoded":[109],"an":[111],"action":[112],"ontology":[113],"then":[116],"verified":[117],"validated":[119],"within":[120],"environment.":[123],"We":[124,142],"evaluate":[125],"our":[126,145],"framework":[127,146],"Toyota":[130],"Human":[131],"Support":[132],"Robot":[133],"(HSR)":[134],"tested":[137],"Gazebo":[140],"simulation.":[141],"show":[143],"that":[144],"can":[147],"correctly":[148],"consistently":[150],"identify":[151],"failed":[153],"variety":[157],"randomised":[159],"scenarios,":[162],"addition":[164],"to":[165],"providing":[166],"deeper":[167],"insights":[168],"type":[171],"location":[173],"failures":[175],"each":[177],"designed":[178],"property.":[179]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
