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ESEC/FSE 2021
Thu 19 - Sat 28 August 2021 Clowdr Platform
Thu 26 Aug 2021 11:10 - 11:20 - Testing—Debugging 2 Chair(s): Jürgen Cito
Thu 26 Aug 2021 23:10 - 23:20 - Testing—Debugging 2 Chair(s): Emerson Murphy-Hill

Swarm robotics collectively solve problems that are challenging for individual robots, from environmental monitoring to entertainment. The algorithms enabling swarms allow individual robots of the swarm to plan, share, and coordinate their trajectories and tasks to achieve a common goal. Such algorithms rely on a large number of configurable parameters that can be tailored to target particular scenarios. This large configuration space, the complexity of the algorithms, and the dependencies with the robots’ setup and performance make debugging and fixing swarms configuration bugs extremely challenging. This paper proposes Swarmbug, a swarm debugging system that automatically diagnoses and fixes buggy behaviors caused by misconfiguration. The essence of Swarmbug is the novel concept called the degree of causal contribution (Dcc), which abstracts impacts of environment configurations (e.g., obstacles) to the drones in a swarm via behavior causal analysis. Swarmbug automatically generates, validates, and ranks fixes for configuration bugs. We evaluate Swarmbug on four diverse swarm algorithms. Swarmbug successfully fixes four configuration bugs in the evaluated algorithms, showing that it is generic and effective. We also conduct a real-world experiment with physical drones to show the Swarmbug’s fix is effective in the real-world.

Thu 26 Aug

Displayed time zone: Athens change

11:00 - 12:00
Testing—Debugging 2Research Papers +12h
Chair(s): Jürgen Cito TU Vienna; Facebook
11:00
10m
Paper
Detecting and Localizing Keyboard Accessibility Failures in Web ApplicationsArtifacts Reusable
Research Papers
Paul T. Chiou University of Southern California, Ali S. Alotaibi University of Southern California, William G.J. Halfond University of Southern California
DOI
11:10
10m
Paper
Swarmbug: Debugging Configuration Bugs in Swarm Robotics
Research Papers
Chijung Jung University of Virginia, Ali Ahad University of Virginia, Jinho Jung Georgia Institute of Technology, Sebastian Elbaum University of Virginia, Yonghwi Kwon University of Virginia
DOI
11:20
10m
Paper
Probabilistic Delta DebuggingDistinguished Paper AwardArtifacts Available
Research Papers
Guancheng Wang Peking University, Ruobing Shen Peking University, Junjie Chen Tianjin University, Yingfei Xiong Peking University, Lu Zhang Peking University
DOI Pre-print
11:30
30m
Live Q&A
Q&A (Testing—Debugging 2)
Research Papers

23:00 - 00:00
Testing—Debugging 2Research Papers
Chair(s): Emerson Murphy-Hill Google
23:00
10m
Paper
Detecting and Localizing Keyboard Accessibility Failures in Web ApplicationsArtifacts Reusable
Research Papers
Paul T. Chiou University of Southern California, Ali S. Alotaibi University of Southern California, William G.J. Halfond University of Southern California
DOI
23:10
10m
Paper
Swarmbug: Debugging Configuration Bugs in Swarm Robotics
Research Papers
Chijung Jung University of Virginia, Ali Ahad University of Virginia, Jinho Jung Georgia Institute of Technology, Sebastian Elbaum University of Virginia, Yonghwi Kwon University of Virginia
DOI
23:20
10m
Paper
Probabilistic Delta DebuggingDistinguished Paper AwardArtifacts Available
Research Papers
Guancheng Wang Peking University, Ruobing Shen Peking University, Junjie Chen Tianjin University, Yingfei Xiong Peking University, Lu Zhang Peking University
DOI Pre-print
23:30
30m
Live Q&A
Q&A (Testing—Debugging 2)
Research Papers