Baltic J. Modern Computing, Vol. 1 (2013), No. 3-4, pp. 139-160 Testing of RUAV and UGV Robots’ Collaboration in the Simulink Environment Janis BICEVSKIS, Artis GAUJENS, Janis KALNINS Institute of Mathematics and Computer Science, University of Latvia, 29 Raina Blvd., Riga, Latvia, LV-1459 Janis.Bicevskis@lu.lv, Artis.Gaujens@lumii.lv, Janis.Kalnins@lumii.lv Abstract. The research has been made on modelling and testing cooperation of autonomous robots in order to verify correctness of the whole system operation. The Extended Finite State Machine (EFSM) has been choose as modelling language that enables describing of operation of each separate robot or its parts and ensures simulation in MATLAB/Simulink environment. The collaboration between processes is implemented by events and using common variables in programs. In this research “the complete test set” of robot cooperation has been defined as feasibility of all possible states of the cooperation model. It is certain, that there is no solution for EFSM model feasibility problem in general. The research defines conditions for use of modelling language in case when complete test set problem has been solved, as well as offers technologies/algorithms for creation of complete test set. Keywords: Autonomous Robots, Model checking, Testing, Validation, Verification. Introduction Autonomous robots are intelligent machines capable of performing tasks in the world by themselves, without explicit human control (Bekey, 2005). Use of autonomous robots is increasingly reaches various areas of human activities, often even taking over execution and supervision of activities formerly performed exceptionally by humans. Thus drawing attention to different methods of development and testing of autonomous robot systems (ARS) that would enable verifying correctness of ARS operations in situations influenced by hardly predictable external environment factors. Unlike development of data processing systems, development of robot system is affected by the fact that system operation tests under real circumstances are difficult to perform. For example, data bases can be copied and developed system tested in test environments before putting it in production, however there are only few situations when tests of robot systems can be run using real hardware (HW) under real circumstances. Therefore intensive efforts are devoted to development of methods and tools/environments that would enable testing of robot systems by operational simulation. One of the most popular approaches offered by MATLAB/Simulink (WEB, (1)) intends, - creation and testing of ARS model in the first step followed by fully or partly automated transfer of the model onto real HW. In this case a significant part of robot system development and test activities is concentrated in MATLAB/Simulink