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\begin{center}
  Massachusetts Institute of Technology \bigskip
  
  \textbf{\Large{Robotics: Science and Systems II (6.189) -- Fall 2005}}

  {\Large In-Class Exercise:  Test Cases and Robot Behavior}

%%\bigskip

\textbf{Wednesday, October 19 2005}
\end{center}

We have designed an in-class exercise to instigate discussion
and consensus about the robot's behavior, in anticipation of
the design review scheduled for this Friday.  We have 
structured the exercise in several parts, as follows:

\begin{enumerate}

\item Five blackboards are labeled, one heading per blackboard,
as {\sc Exploration, Brick Detection, Brick Pickup, Homing,} and
{\sc Construction}.  The class splits roughly evenly into five
groups, one per blackboard, according to each student's interest 
in the above aspects of the challenge.

\item Each group then generates a {\em test case} by specifying
a {\em brief, high-level description} of:

\begin{itemize}

\item The behavior the test case is designed to test;

\item The robot's initial state (relevant internal or external aspects);

\item Environmental conditions conducive to successful operation (i.e.,
  nominal conditions);

\item Environmental conditions likely to lead to failed operation (i.e.,
  anomalous conditions).

\end{itemize}

The group then transcribes their test case onto the ``test case'' 
form provided for this purpose.  (This form will be handed in to
the RSS staff for generation and posting of PDF on the RSS wiki.)

\item Each group then describes {\em privately} (i.e., on the form
we hand out but not on their blackboard) the {\em desired outcomes}
(both nominal and anomalous) that they envision for this test case,
specifically:

\begin{itemize}

\item Any relevant {\em preconditions}, i.e., assertions about the
  state of the robot or its environment before the behavior commences;

\item The behavior subsequently exhibited by the robot;

\item Any relevant {\em postconditions}, i.e., assertions about the
  state of the robot or its environment after the behavior completes.

\end{itemize}

\item Each group then discusses and writes up an outcome to each
of the other four groups' test cases (for both nominal and
anomalous conditions), using the form (front and back) that we
have provided for this purpose.

\item Each group then collects the four other groups' responses
to its test cases.

\item Each group then briefly summarizes the consensus outcome to its
test case.  Where rough consensus was reached, the group simply states
this.  Where wide variation in the responses arose, the group states
that this is a test case calling for further discussion.

\end{enumerate}

\newpage
\begin{center}
{\large \bf TEST CASE}
\end{center}

\subsection*{Group Name:}

\subsection*{Group Members:}

\subsection*{Test Case Name:}

\subsection*{Behavior Test Case is Designed to Test}

\vspace*{0.5in}

\subsection*{Robot's Initial State (Internal or External Aspects)}

\vspace*{2.0in}

\subsection*{Nominal Conditions (i.e., Conducive to Success)}

\vspace*{2.0in}

\subsection*{Anomalous Conditions (i.e., Conducive to Failure)}

% \vspace*{2.0in}


\newpage
\begin{center}
{\large \bf DESIRED OUTCOME (NOMINAL)}
\end{center}

\subsection*{Group Name:}

\subsection*{Group Members:}

\subsection*{Test Case Name:}

\subsection*{Preconditions}

\vspace*{2.0in}

\subsection*{Desired Behavior}

\vspace*{2.0in}

\subsection*{Postconditions}

% \vspace*{2.0in}

\newpage
\begin{center}
{\large \bf DESIRED OUTCOME (ANOMALOUS)}
\end{center}

\subsection*{Group Name:}

\subsection*{Group Members:}

\subsection*{Test Case Name:}

\subsection*{Preconditions}

\vspace*{2.0in}

\subsection*{Desired Behavior}

\vspace*{2.0in}

\subsection*{Postconditions}

% \vspace*{2.0in}

\end{document}
