Abstract
As modern autonomous robots have improved in their ability to demonstrate human-like motor skills and reasoning, the size and complexity of software systems have increased proportionally, with developers actively working to leverage the full processing performance of next-generation computational hardware. This software complexity corresponds with increased difficulty in debugging low-level coding issues, with the traditional methodology of inferring such issues from emergent high-level behaviour rapidly approaching intractability. This paper details the development and functionality of NUbugger: a visual, real-time and open source robot debugging utility that provides the user with comprehensive information regarding low-level functionality. This represents a paradigm shift from corrective to preventative debugging, and concrete examples of the application of NUbugger to the identification of fundamental implementation errors are described. The system implementation facilitates simple and rapid extension or modification, making it a useful utility for debugging any similar complex robotic framework.
Chapter PDF
Similar content being viewed by others
References
Budden, D., Fenn, S., Mendes, A., Chalup, S.: Evaluation of colour models for computer vision using cluster validation techniques. In: Chen, X., Stone, P., Sucar, L.E., van der Zant, T. (eds.) RoboCup 2012. LNCS (LNAI), vol. 7500, pp. 261–272. Springer, Heidelberg (2013)
Budden, D., Fenn, S., Walker, J., Mendes, A.: A novel approach to ball detection for humanoid robot soccer. In: Thielscher, M., Zhang, D. (eds.) AI 2012. LNCS, vol. 7691, pp. 827–838. Springer, Heidelberg (2012)
Cabello, R.: Three.js (2013), https://github.com/mrdoob/three.js/
Google: Protocol Buffers (2012), https://developers.google.com/protocol-buffers/
Ha, I., Tamura, Y., Asama, H., Han, J., Hong, D.: Development of open humanoid platform DARwIn-OP. In: Proceedings of SICE Annual Conference, SICE 2011, pp. 2178–2181. IEEE (2011)
iMatrix: ∅MQ: The Intelligent Transport Layer (2013), http://www.zeromq.org/
Kitano, H., Asada, M.: The robocup humanoid challenge as the millennium challenge for advanced robotics. Advanced Robotics 13(8), 723–736 (1998)
Michel, O.: Webots: Symbiosis between virtual and real mobile robots. In: Heudin, J.-C. (ed.) Virtual Worlds 1998. LNCS (LNAI), vol. 1434, pp. 254–263. Springer, Heidelberg (1998)
Nicklin, S.P., Bhatia, S., Budden, D., King, R.A., Kulk, J., Walker, J., Wong, A.S., Chalup, S.K.: The nubots team description for (2011)
Rauch, G.: Socket.IO, http://socket.io/ (2012)
Schaller, R.R.: Moore’s law: past, present and future. IEEE Spectrum 34(6), 52–59 (1997)
Sencha: Sencha Ext JS: JavaScript Framework for Rich Desktop Apps. (2013), http://www.sencha.com/products/extjs
VisionMedia: Express: Web application framework for node (2013), http://expressjs.com/
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Annable, B., Budden, D., Mendes, A. (2014). NUbugger: A Visual Real-Time Robot Debugging System. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds) RoboCup 2013: Robot World Cup XVII. RoboCup 2013. Lecture Notes in Computer Science(), vol 8371. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44468-9_48
Download citation
DOI: https://doi.org/10.1007/978-3-662-44468-9_48
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-44467-2
Online ISBN: 978-3-662-44468-9
eBook Packages: Computer ScienceComputer Science (R0)