Sophisticated Offline Analysis of Teams of Autonomous Mobile Robots

Debugging control software for an autonomous mobile robot is a dif?cult and time consuming task. But it gets even harder, when analyzing a whole team of robots and their team behavior. The quality of the robots" decisions based on their current knowledge cannot be judged anymore by merely looking at their actions from the outside. In this paper an approach for collecting intrinsic and extrinsic data of a team of robots during full operation and analyzing this data of?ine is described. Since the amount of data to be collected is quite large a method for automated and semi-automated analysis is shown - making it possible to detect known problems in an automated process and mark potentially interesting events for manual review. Furthermore a solution to reuse existing single robot debugging tools on teams of robots, without rewriting each tool, is presented.