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Architecting a testbench. Components of a testbench Proper ow of a testbench including the main thread, clock generation, and testcase inclusion Creating system stimulus using tools such as MATLAB. Bus-functional models for common interfaces. Gaining insight into overall coverage of stimulus. Running gate-level sims for veri cation, debug, and power estimation. Common testbench traps and proper methods for modeling devices.

Imagine we designed such a system: It is agile and compact; it is capable of docking, repair, and hauling of space objects; and, to allow maneuvering around space objects, it is equipped with a provable sensor-based motion planning algorithm. Our robot call it R-SAT arrives to some old satellite in a coma call it X. The satellite X is not only moving along its orbit around the Earth, it is also tumbling in space in some arbitrary ways. Before R-SAT starts on its repair job, it will have to y around X, to review its condition and its useability. It may need to attach itself to the satellite for a more involved analysis. To do this y around or attach to the satellite surface the robot needs to be capable of speeds that would allow these operations. If the robot arrives at the site without any prior analysis of the satellite X condition, this amounts to our choosing the rst option above: No convergence of R-SAT motion planning around X is guaranteed. On the other hand, a decision to send R-SAT to satellite X might have been made after some serious remote analysis of the X s rate of tumbling. The analysis might have concluded that the rate of tumbling of satellite X was well within the abilities of the R-SAT robot. In our terms, this corresponds to adhering to the second option and to satisfying the right constraints and then the R-SAT s motion planning will have a guaranteed convergence.

Multirobot Groups. One area where the said constraints on obstacles motion come naturally is multirobot systems. Imagine a group of mobile robots operating in a planar scene. In line with our usual assumption of a high level of uncertainty, assume that the robots are of different shapes and the system is highly decentralized. That is, each robot makes its own motion planning decisions without informing other robots, and so each robot knows nothing about the motion planning intentions of other robots. When feasible, this type of control is very reliable and well protected against communication and other errors. A decentralized control in multirobot groups is desirable in many settings. For example, it would be of much value in a robotic battle eld, where a continuous centralized control from a single commander would amount to sacri cing the system reliability and fault tolerance. The commander may give general commands from time to time for instance, on changing goals for the whole group or for speci c robots (which is an equivalent of prescribing each robot s next target position) but most of the time the robots will be making their own motion planning decisions. Each robot presents a moving obstacle to other robots. (Then there may also be static obstacles in the workspace.) There is, however, an important difference between this situation and the situation above with arbitrary moving obstacles. You cannot have any beforehand agreement with an arbitrary obstacle, but you can have one with other robots. What kind of agreement would be unconstraining enough and would not depend on shapes and dimensions and locations The system designers may prescribe, for example, that if two robots meet, each robot will attempt to pass around the other only clockwise. This effectively eliminates

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the above dif culty with the algorithm convergence in the situation with moving obstacles.10 (More details on this model can be found in Ref. 77.)

Pissing him off would end my chances forever of seeing the trading floor here, or anywhere else, for that matter Mr Wilson was probably waiting for me, expecting me, and I was going to ruin the opportunity if I didn t get in there So I decided that I would beg I promise Last time I didn t see Mr Sutherland I know I lied I lied to you, I lied to my wife earlier last week, I lied to my boss and to some other people that I can t remember right now But you gotta let me in that door I swear Mr Wilson works here She had transformed suddenly into the Angry Receptionist I ve already called security, she told me very matter-of-factly.