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

Sept 9 — PR7

Field test and redo SVD dry run

  • Tamping: tamper designed
  • Obstacle avoidance/navigation replanning: test ground segmentation and evaluate problems
  • Navigation debugging: test one seedling, test multiple locationsFeedback control digging: buy force sensor
  • UI monitor: identify needed components, set up spreadsheet of needed ROS2 topics
  • Manipulation: test deterministic arm motion planning (as implemented for the SVD)
Sept 23 — PR8
  • Tamping: tamping prototype developed
  • Obstacle avoidance/navigation replanning: ground segmentation tested and working; navigation replanning implemented in code
  • Navigation debugging: fixes from PR7 validated
  • User interface monitor: ROS2 topics mapped out
  • Manipulation: five storage locations set on robot; five-seedling deterministic sequence complete; arm-FSM integration working
  • Feedback control digging: force sensor in place and connected to Arduino; 5+ tests run across surface hardnesses to determine threshold

Oct 7 — PR9

  • Integration of manipulation, tamping, and feedback-control digging
  • Obstacle avoidance/navigation replanning: full navigation and obstacle avoidance integrated and tested

Oct 11 — Fall Break

  • Full system integrated: full navigation and obstacle avoidance, functional tamping, deterministic seedling manipulation

Oct 28 — PR10

  • Improved system performance

Nov 11 — PR11

  • FVD rehearsal

Nov 19 — FVD

  • Fall Validation Demonstration: full autonomous system navigates, avoids obstacles, digs, plants, and tamps seedlings across multiple locations