Robotics-specific errors (with physical manifestation)‌ Sample Clauses

Robotics-specific errors (with physical manifestation)‌. We also see a number of robotics-specific bugs that manifest themselves in physical reality. These are bugs where the programming causes some un-intended effect in the (physical) behavior of the robot or in (virtual) simulation. The following table shows 27 bugs (15%) that have to do with physical reality. Again, we see representation from all projects sampled. Intercepting these errors are harder as it often requires knowledge and modelling of the physical characteristics and use of the robot and correlating this with the implementation. Σ Bug type (classification) CWE K A U M T C X 27 ERRORS that have PHYSICAL manifestation: 10 1 6 7 1 1 1 7 Wrong Behavior - 3 1 2 1 5 Dangerous Behavior - 1 2 2 4 Incorrect Calculation 682 4 4 Wrong Robot Model - 2 2 3 Wrong Numeric Constant - 3 2 other… - 1 1 QUALITATIVE: Analyzing the individual bug reports, we see a lot of errors involving unintended actuation (i.e., output for the robot); in particular, motion. We see no motion (e.g., bug #fc95a19, where the robot ceases to move, because the motion planner exceeded a driver’s internally hardwired velocity limit of two radians per second); incorrect motion (e.g., bug #1c141a5, where the robot was supposed to move forwards but ended up moving backwards instead, due to accumulated rounding errors caused by the use of the wrong data type); too slow motion (e.g., bug # af7946f, where the robot would move very slowly and also turn in the wrong direction, due to an arithmetic calculation error); too fast motion (e.g., bug #ad906f0, where the robot would even do wheelies when instructed to move after being idle, due to lack of acceleration smoothing), or even dangerous motion (e.g., bugs #3f260cb and #b1b6fcb, where the robot could move after stop, respectively, pause). Besides motion actuators, there is a single example involving another kind of actuator, namely sound (e.g., bug #5a44ead, which would not emit a success beep sound, because of premature termination). There are also a number of bugs involving sensors (i.e., input to the robot). For instance, no sensory data (bug #f01d952, where no images were received from the camera, due to a missing runtime dependency); or wrong sensory data (bug #2f647af, which would give wrong odometry position estimates, because of an inappropriately reset offset; or bug #22e4e4f, for which the input from the camera is mirrored, due to not adhering to the conventions associated with the representation of the vertical axis). Finally, a numb...
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