Our full fall test plan documentation is available here: Fall Test Plan
Our full spring test plan documentation is available here: Spring Test Plan
Fall Semester
T01: Rerun Spring Validation Demonstration
Date: 10/25/2025
Result: Satisfies verification criteria. Old planning stack was not very reliable as it had a boolean controller for dozer up/down motion. Will deprecate and implement new planning logic for FVD.
T02: Global Path Planner Accuracy Test
Date: 11/01/2025
Result: Satisfies verification criteria. Will continue to tabulate statistics during CI/CD testing.
T03: Filtering and Selection of Gradable Craters
Date: 11/03/2025
Result: Satisfies verification criteria. Red circles denote craters to avoid. Green circles denote craters to groom.
T04: Navigation Planner Maximum Deviation Test
Date: 11/01/2025
Result: Satisfies verification criteria. Will continue to tabulate statistics during CI/CD testing.
T05: Perception Stack Crater Geometry Extraction Test
Date: 11/07/2025
Result: Satisfies verification criteria. Obtains satisfactory position and diameter of crater using YOLO model.
T06: Repeatability Test of Local Navigation Controller
Date: 11/09/2025
Result: Satisfies verification criteria.
T07: Trail Grooming Slope Validation
Date: 11/01/2025
Result: Satisfies verification criteria.
T08: SkyCam Localization Validation
Date: 10/26/2025 (no gimbal), 11/08/2025 (with gimbal)
Result: Satisfies verification criteria. Roll and pitch issues solved with mechanical gimbal.
T09: CPU/GPU Usage of Autonomous Stack is Below Orin Compute Limits
Date: 11/08/2025
Result: Satisfies verification criteria. CPU usage consistently below 50%. Core 15 minute average usage of 4.66 (on 8 core system).
T10: Maintenance, Reliability and Quality Assurance Test
Date: 10/25/2025 (Hardware QA 1), 11/01/2025 (Navigation QA), 11/06/2025 (Wires QA), 11/07/2025 (Validation QA), 11/08/2025 (Skycam QA), 11/11/2025 (Hardware QA 2), 11/11/2025 (Localization QA), 11/12/2025 (Planning QA)
Result: Satisfies verification criteria. Each subsystem & unit working as intended. Will complete more integration QA during CI/CD testing.
T11: Fall Validation Demo Preparation Test
Date: 11/15/2025
Result: Satisfies verification criteria.
Spring Semester
T01: Teleoperation Test
Date: 01/03/2025 (with Grader), 03/04/2025 (with Dozer)
Result: Satisfies verification criteria
T02: IMU Interfacing and Connectivity Test
Date: 02/08/2025
Result: Satisfies verification criteria. However, IMU after bias-correction is still noisy.
T03: Depth Camera Connectivity Test
Date: 01/16/2025 (with Laptop), 03/04/2025 (with Jetson)
Result: Satisfies verification criteria.
T04: Dozer Assembly Test
Date: 01/18/2025 (first iteration), 03/04/2025 (second iteration)
Result: Minor iterations and refinement in dozer placement.
T05: External Infrastructure Test
Date: 02/24/2025
Result: Satisfies verification criteria.
T06: Wheel Tests
Date: 01/30/2025 (first iteration), 03/04/2025 (second iteration)
Result: Satisfactory wheel slip and sinkage. Going ahead with design.
T07: Complete Hardware Test
Date: 04/13/2025
Result: Satisfies verification criteria. Complete hardware integration for SVD. Risk plan developed for potential points of hardware failure.
T08: Mapping the Moon Yard
Date: 01/16/2025 (first test), 02/24/2025 (second test), 03/03/2025 (third test)
Result: Satisfies verification criteria. Minor adjustments in occupancy grid parameters to remove noise.
T09: Localization Test
Date: 03/21/2025
Result: Satisfies verification criteria. Minor tuning for yaw mismatch and drift.
T10: Optimal Mast Depth Camera Placement Test
Date: 03/04/2025
Result: Satisfies verification criteria. Optimal placement calculated to be {X, Y, Z, R, P, Y} = {0.5, 0, 0.6, 0, -30, 0} from rover’s center of mass.
T11: Autonomous Navigation Validation Test
Date: 04/13/2025
Result: Satisfies verification criteria. Minor fine-tuning of Nav2 parameters and config files.
T12: Tool Planner Test
Date: 04/10/2025
Result: Satisfies verification criteria. Minor fine-tuning of the number of transport assignments.
T13: Integration Test
Date: 04/13/2025
Result: Satisfies verification criteria.
T14: Maintenance, Reliability and Quality Assurance Test
Date: 04/15/2025
Result: Satisfies verification criteria. Drilled into motor shaft and attached pinions. Replaced all jumper wires on the rover ahead of SVD.
T15: Spring Validation Demo Test
Date: 04/15/2025 (first test), 04/16/2025 (second test)
Result: Satisfies verification criteria. Did multiple SVD test runs for repeatability.
