Test Plan

Spring Validation Test Plan

Feb 13 — Progress Review 1

  • Localization: Preliminary GNSS RTK and data collection (T.L.1)
  • Mechanical: Preliminary planting mechanism design.
  • Navigation: Simulation setup for path planning.
  • Perception: Collect images for seedling detection model training.
  • Requirements Addressed: MF1, MF2, MN6

Feb 27 — Progress Review 2

  • Localization: Establish GNSS-only localization publishing to ROS2.
  • Planting Mechanism: Auger and chute vertical actuation verification; horizontal actuation design; Arm motion waypoint verification (T.A.1, T.M.1).
  • Navigation: Test trajectory planning in simulation.
  • Perception: Test seedling detection and obstacle detection in simulation (T.P.1).
  • Requirements Addressed: MP6.1, MP7, MP8, MN1, MN6

Mar 20 — Progress Review 3

  • Localization: Set up FAST-LIO2 and sensor fusion (T.L.3).
  • Planting Mechanism: Finalize horizontal/vertical actuation; Complete pick-and-place maneuver with end-effector (T.M.2).
  • Navigation: Test obstacle avoidance and costmap building (T.P.2).
  • Requirements Addressed: MF1-5, MP2, MN6, MN4, MP12, MN2

Apr 03 — Progress Review 4

  • Planting Mechanism: Full ROS2 integration; In-lab and field testing in Schenley Park (T.M.3, T.M.4, T.A.2).
  • Navigation: Test forest/route planning and trajectory in Schenley Park (T.N.1, T.N.2).
  • Requirements Addressed: MP12.1, MN1, MN4, MN6

Apr 16 — System Validation Demonstration (SVD)

  • Full Autonomy: System achieves full autonomous navigation and planting.
  • Requirements Addressed: MF1-7, MN3, MN4, MN6, MN7

Fall Validation Test Plan