The virtual lands of Oz: testing an agribot in simulation

  title={The virtual lands of Oz: testing an agribot in simulation},
  author={Cl{\'e}ment Robert and Thierry Sotiropoulos and J{\'e}r{\'e}mie Guiochet and H{\'e}l{\`e}ne Waeselynck and Simon Vernhes},
  journal={Empirical Software Engineering},
Testing autonomous robots typically requires expensive test campaigns in the field. To alleviate them, a promising approach is to perform intensive tests in virtual environments. This paper presents an industrial case study on the feasibility and effectiveness of such an approach. The subject system is Oz, an agriculture robot for autonomous weeding. Its software was tested with weeding missions in virtual crop fields, using a 3D simulator based on Gazebo. The case study faced several… 
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