Robotics DSL Zoo

An Overview of Domain-Specific Languages in Robotics

initiated and maintained by A. Nordmann, N. Hochgeschwender , D. Wigand, and S. Wrede, updated on May 8th 2020

This is an index of all publications in the Robotics DSL Zoo. For a more structured overview have a look at the different Subdomains.

Index

KeyTitleAuthorsYearSubdomainsPhases
abdellatif2012rigorousRigorous design of robot software: A formal component-based approachAbdellatif, Tesnim and Bensalem, Saddek and Combaz, Jacques and De Silva, Lavindra and Ingrand, Felix2012 Architectures and Programming, Capability Building, System Benchmarking,
adam2014towardsTowards rule-based dynamic safety monitoring for mobile robotsAdam, Sorin and Larsen, Morten and Jensen, Kjeld and Schultz, Ulrik Pagh2014 Architectures and Programming, Functional Design, Capability Building, Product Maintenance,
aertbelien2014etasleTaSL/eTC: A constraint-based task specification language and robot controller using expression graphsAertbeli\ en, Erwin and De Schutter, Joris2014 Architectures and Programming, Kinematics, Dynamics, Capability Building,
aggarwal1994specificationSpecification and automated implementation of coordination protocols in distributed controls for flexible manufacturing cellsAggarwal, Sudhir and Mitra, Sandeep and Jagdale, Sanjay S1994 Architectures and Programming, Capability Building,
Akim2010Events! (Reactivity in Urbiscript)Akim, Jean-christophe Baillie and Quentin, Demaille and Matthieu, Hocquet and Gostai, S A S and Berlier, Jean-baptiste and Paris, F-2010 components, Architectures and Programming,
alonso2010v3cmmV3cmm: A 3-view component meta-model for model-driven robotic software developmentAlonso, Diego and Vicente-Chicote, Cristina and Ortiz, Francisco and Pastor, Juan and Alvarez, Barbara2010 Architectures and Programming, Capability Building, System Deployment,
Anderson2011Work in Progress: Enabling Robot Device Discovery through Robot Device DescriptionsAnderson, Monica and Kilgo, Paul and Crawford, Chris and Stanforth, Megan2011 Architectures and Programming,
anderson2012rdisRDIS: Generalizing Domain Concepts to Specify Device to Framework MappingsAnderson, Monica and Bowman, Jason and Kilgo, Paul2012 Architectures and Programming, Functional Design, Platform Building, Capability Building,
Angerer2012A Graphical Language for Real-Time Critical Robot CommandsAngerer, Andreas and Smirra, Remi and Hoffmann, Alwin and Schierl, Andreas and Vistein, Michael and Reif, Wolfgang2012 Architectures and Programming,
barth2012gotoA GOTO-based concept for intuitive robot programmingBarth, Katharina and Henrich, Dominik2012 Mechanisms and Actuation, Motion Control, Architectures and Programming, Capability Building,
berenz2014targetsTargets-Drives-Means: A declarative approach to dynamic behavior specification with higher usabilityBerenz, Vincent and Suzuki, Kenji2014 Architectures and Programming, Capability Building,
biggs2006specifyingSpecifying robot reactivity in procedural languagesBiggs, Geoffrey and MacDonald, Bruce A2006 Architectures and Programming, Capability Building,
biggs2008evaluatingEvaluating a reactive semantics for roboticsBiggs, Geoffrey and MacDonald, Bruce A2008 Architectures and Programming, Capability Building,
Blumenthal2013Towards a Domain Specific Language for a Scene Graph based Robotic World ModelBlumenthal, Sebastian and Bruyninckx, Herman2013
bocionek1990generatingGenerating expert systems for configuration tasksBocionek, S and Buchka, P and Schweiger, J1990 Reasoning Methods, Platform Building, Functional Design,
bordignon2011generalizedGeneralized programming of modular robots through kinematic configurationsBordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh2011 Kinematics, Architectures and Programming, Platform Building, Capability Building,
bouzouia1998threeA three-layer workcell control architecture designBouzouia, Brahim and Guerroumi, Fawzi and Boukhezar, Abdelmalek1998 Architectures and Programming, Capability Building, System Deployment,
braberman2013controllerController synthesis: From modelling to enactmentBraberman, V\ \ictor and D Ippolito, Nicolas and Piterman, Nir and Sykes, Daniel and Uchitel, Sebastian2013 Architectures and Programming, Capability Building, Functional Design,
buch2014applyingApplying Simulation and a Domain-Specific Language for an Adaptive Action LibraryBuch, Jacob P\orksen and Laursen, Johan Sund and S\orensen, Lars Car\oe and Ellekilde, Lars-Peter and Kraft, Dirk and Schultz, Ulrik Pagh and Petersen, Henrik Gordon2014 Architectures and Programming, Motion Control, Functional Design, Capability Building,
Buchmann2013Towards A Domain-Specific Language For Pick-And-Place ApplicationsBuchmann, Thomas and Baumgartl, Johannes and Henrich, Dominik and Westfechtel, Bernhard2013
burbidge2009grammaticalGrammatical evolution of a robot controllerBurbidge, Robert and Walker, Joanne H and Wilson, Myra S2009 Architectures and Programming, Motion Control, Capability Building,
Cai1987Operational space motion specification in AL robot languageCai, Chunsheng and Binford, TO1987
causse1993manA man machine interface for a mobile robotCausse, Olivier and Crowley, James L1993 Architectures and Programming, Functional Design, Platform Building, Capability Building,
chaki2014modelModel-Driven Verifying Compilation of Synchronous Distributed ApplicationsChaki, Sagar and Edmondson, James2014 Architectures and Programming, Capability Building,
coste1997maestroThe maestro language and its environment: Specification, validation and control of robotic missionsCoste-Maniere, Eve and Turro, Nicolas1997 Architectures and Programming, Capability Building, Functional Design,
dai2002specifyingSpecifying behavior in C++Dai, Xiangtian and Hager, Gregory and Peterson, John2002 Architectures and Programming, Capability Building,
dantam2011motionThe motion grammar for physical human-robot gamesDantam, Neil and Koine, P and Stilman, Mike2011 Architectures and Programming, Motion Planning, Capability Building, Product Maintenance,
Dantam2012The Motion Grammar: Linguistic Perception, Planning, and ControlDantam, Neil and Stilman, Mike2012
dantam2012linguisticLinguistic transfer of human assembly tasks to robotsDantam, Neil and Essa, Irfan and Stilman, Mike2012 Motion Planning, Reasoning Methods, Architectures and Programming, Capability Building,
dantam2013correctCorrect Software Synthesis for Stable Speed-Controlled Robotic Walking.Dantam, Neil and Hereid, Ayonga and Ames, Aaron D and Stilman, Mike2013 Motion Planning, Motion Control, Capability Building,
datta2012robostudioRobostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robotDatta, Chandan and Jayawardena, Chandimal and Kuo, I Han and MacDonald, Bruce A2012 Architectures and Programming, Capability Building, System Deployment, Platform Building,
de2007distributedDistributed watchpoints: Debugging large multi-robot systemsDe Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T2007 Architectures and Programming, Reasoning Methods, Capability Building, System Benchmarking, Product Maintenance,
de2012scriptingA Scripting-Based Approach to Robot Behavior Engineering using Hierarchical Generatorsde Haas, Thijs Jeffry and Laue, Tim and Rofer, T2012 Architectures and Programming, Capability Building,
dhouib2012robotmlRobotml, a domain-specific language to design, simulate and deploy robotic applicationsDhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal2012 Architectures and Programming, Functional Design, Capability Building, System Deployment,
dittes2011intelligentIntelligent system architectures-comparison by translationDittes, Benjamin and Goerick, Christian2011 Architectures and Programming, Functional Design, Capability Building,
dittes2011languageA language for formal design of embedded intelligence research systemsDittes, Benjamin and Goerick, Christian2011 Architectures and Programming, Capability Building, Functional Design,
Fabry2014Live Robot ProgrammingJohan Fabry and Miguel Campusano2014 Architectures and Programming,
fayman1999avAV-shell, an environment for autonomous robotic applications using active visionFayman, Jeffrey A and Rivlin, Ehud and Christensen, Henrik I1999 Architectures and Programming, Motion Control, Capability Building,
feniello2014programProgram synthesis by examples for object repositioning tasksFeniello, Ashley and Dang, Hao and Birchfield, Stan2014 Architectures and Programming, Reasoning Methods, Motion Planning, Capability Building, Functional Design,
ferrein2008logicLogic-based robot control in highly dynamic domainsFerrein, Alexander and Lakemeyer, Gerhard2008 Architectures and Programming, Reasoning Methods,
finucane2010ltlmopLTLMoP: Experimenting with language, temporal logic and robot controlFinucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas2010 Motion Control, Architectures and Programming, Motion Planning, Scenario Building, Functional Design, Capability Building,
fleurey2009domainA domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systemsFleurey, Franck and Solberg, Arnor2009 Architectures and Programming, Capability Building, Functional Design, Product Deployment, Product Maintenance,
fleury1994designDesign of a modular architecture for autonomous robotFleury, Sara and Herrb, Matthieu and Chatila, Raja1994 Mechanisms and Actuation, Sensing and Estimation, Architectures and Programming, Capability Building,
fleury1997gGenoM: A Tool for the Specification and the Implementation of Operating Modules in a Distributed Robot ArchitectureFleury, Sara and Herrb, Matthieu and Chatila, Raja1997 Architectures and Programming, Capability Building,
freund2001stateState oriented modeling as enabling technology for projective virtual realityFreund, Eckhard and Schluse, Michael and Rossmann, J\ urgen2001 Architectures and Programming, Capability Building,
Frigerio2011A Domain Specific Language for Kinematic Models and Fast Implementations of Robot Dynamics AlgorithmsFrigerio, M. and Buchli, J. and Caldwell, D.G.2011 Motion Control, robot-structure, transformation,
frigerio2012codeCode Generation of Algebraic Quantities for Robot ControllersFrigerio, Marco and Buchli, Jonas and Caldwell, Darwin G2012 Kinematics, Dynamics, Capability Building,
frigerio2012modelModel based code generation for kinematics and dynamics computations in robot controllersFrigerio, Marco and Buchli, Jonas and Caldwell, Darwin G2012 Kinematics, Dynamics, Functional Design, Capability Building,
fryer1998resourceResource modelling and combination in modular robotics systemsFryer, J Andrew and McKee, Gerard T1998 Sensing and Estimation, Mechanisms and Actuation, Platform Building,
gat1991alfaAlfa: A language for programming reactive robotic control systemsGat, Erann1991 Architectures and Programming, Capability Building,
gherardi2014modelingModeling and reusing robotic software architectures: the hyperflex toolchainGherardi, Luca and Brugali, Davide2014 Architectures and Programming, Functional Design, Capability Building,
gobillot2014modelingA Modeling Framework for Software Architecture Specification and ValidationGobillot, Nicolas and Lesire, Charles and Doose, David2014 Architectures and Programming, Reasoning Methods, Capability Building, System Deployment, Platform Building,
gordillo1991highLE: a high level language for specifying vision verification tasksGordillo, Jose L1991 Architectures and Programming, Reasoning Methods, Sensing and Estimation, Functional Design, Capability Building,
graves1999distributedDistributed generic control for multiple types of telerobotGraves, Alan R and Czarnecki, Chris1999 Architectures and Programming, Motion Control, Capability Building,
henderson1984logicalLogical sensor systemsHenderson, Tom and Shilcrat, Esther1984 Sensing and Estimation, Architectures and Programming, Capability Building, Functional Design,
Hochgeschwender2013Towards a Robot Perception Specification LanguageHochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K.2013 perception,
hochgeschwender2013modelA model-based approach to software deployment in roboticsHochgeschwender, Nico and Gherardi, Luca and Shakhirmardanov, Azamat and Kraetzschmar, Gerhard K and Brugali, Davide and Bruyninckx, Herman2013 Architectures and Programming, Functional Design, Capability Building, System Deployment,
hochgeschwender2014declarativeDeclarative Specification of Robot Perception ArchitecturesHochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K2014 Architectures and Programming, Sensing and Estimation, Reasoning Methods, Platform Building, Capability Building, Product Maintenance,
hongxing2009componentA component based design framework for robot software architectureHongxing, Wei and Xinming, Duan and Shiyi, Li and Guofeng, Tong and Tianmiao, Wang2009 Architectures and Programming, Capability Building,
hornby2001evolutionEvolution of generative design systems for modular physical robotsHornby, Gregory S and Lipson, Hod and Pollack, Jordan B2001 Kinematics, Mechanisms and Actuation, Motion Control, Functional Design,
horswill2000functionalFunctional programming of behavior-based systemsHorswill, Ian Douglas2000 Architectures and Programming, Reasoning Methods, Capability Building,
hsieh2007adaptiveAdaptive teams of autonomous aerial and ground robots for situational awarenessHsieh, M Ani and Cowley, Anthony and Keller, James F and Chaimowicz, Luiz and Grocholsky, Ben and Kumar, Vijay and Taylor, Camillo J and Endo, Yoichiro and Arkin, Ronald C and Jung, Boyoon and others2007 Architectures and Programming, Motion Planning, Capability Building,
Ingles2010Dealing with Run-Time Variability in Service Robotics : Towards a DSL for Non-Functional PropertiesIngles-Romero, J.F. and Lotz, A. and Vicente-Chicote, C. and Schlegel, C.2010 Architectures and Programming,
ingrand2002executionAn execution control system for autonomous robotsIngrand, F\ elix and Py, Frederic2002 Architectures and Programming, Capability Building,
ingrand2007decisionalDecisional autonomy of planetary roversIngrand, F\ elix and Lacroix, Simon and Lemai-Chenevier, Solange and Py, Frederic2007 Architectures and Programming, Capability Building,
jara2011ejs+Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationJara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an2011 Architectures and Programming, Dynamics, Kinematics, Platform Building, Functional Design, Capability Building,
joyeux2010managingManaging plans: Integrating deliberation and reactive execution schemesJoyeux, Sylvain and Kirchner, Frank and Lacroix, Simon2010 Architectures and Programming, Reasoning Methods, Capability Building,
kanayama2000sIt s time to make mobile robots programmableKanayama, Yutaka J and Wu, C Thomas2000 Kinematics, Motion Control, Motion Planning, Capability Building, Functional Design,
kang20053d3d virtual prototyping of home service robots using asadal/objKang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon2005 Mechanisms and Actuation, Architectures and Programming, Kinematics, Functional Design, Platform Building, Capability Building,
kilgo2012visualA Visual Modeling Language for RDIS and ROS Nodes Using AToM3Kilgo, Paul and Syriani, Eugene and Anderson, Monica2012 Mechanisms and Actuation, Sensing and Estimation, Platform Building, Capability Building,
kim2003taskTask description language for underwater robotsKim, Tae Won and Yuh, Junku2003 Architectures and Programming, Motion Control, Motion Control, Platform Building, Capability Building,
kitagishi2002developmentDevelopment of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networksKitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi2002 Motion Control, Mechanisms and Actuation, Platform Building, Capability Building,
klotzbucher2011reusableReusable hybrid force-velocity controlled motion specifications with executable domain specific languagesKlotzbucher, M and Smits, Ruben and Bruyninckx, Herman and De Schutter, Joris2011 Motion Control, Kinematics, Force Control, Capability Building,
Klotzbuecher2012Pure Coordination using the Coordinator – Configurator PatternKlotzbücher, Markus and Biggs, Geoffrey and Bruyninckx, Herman2012 Architectures and Programming,
knoop2007automaticAutomatic robot programming from learned abstract task knowledgeKnoop, Steffen and Pardowitz, Michael and Dillmann, R\ udiger2007 Architectures and Programming, Scenario Building,
kovsecka1997experimentsExperiments in behavior compositionKo\vseck\ a, Jan1997 Architectures and Programming, Capability Building,
kress2007structuredFrom structured english to robot motionKress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J2007 Motion Planning, Motion Control, Architectures and Programming, Functional Design, Capability Building,
KressGazit2010Automatic synthesis of robot controllers for tasks with locative prepositionsKress-Gazit, Hadas and Pappas, George J2010
kubica2002creatingCreating a smarter membrane: Automatic code generation for modular self-reconfigurable robotsKubica, Jeremy and Rieffel, Eleanor2002 Architectures and Programming, Capability Building,
kulakowski2012modelingModeling robot behavior with CCLKu\lakowski, Konrad and Szmuc, Tomasz2012 Architectures and Programming, Capability Building,
kunze2011towardsTowards semantic robot description languagesKunze, Lars and Roehm, Tobias and Beetz, Michael2011 Architectures and Programming, Reasoning Methods, Scenario Building, Capability Building,
Laet2012Domain Specific Language for Geometric Relations between Rigid Bodies targeted to Robotic ApplicationsLaet, Tinne De and Schaekers, Wouter and de Greef, Jonas and Bruyninckx, Herman2012 transformation,
lesire2012mauveMauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications.Lesire, Charles and Doose, David and Cass\ e, Hug2012 Architectures and Programming, Capability Building, System Deployment, Platform Building,
ljungkrantz2007implementingImplementing a control system framework for automatic generation of manufacturing cell controllersLjungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin2007 Architectures and Programming, Mechanisms and Actuation, Sensing and Estimation, Platform Building, Capability Building,
loetzsch2006xabslXABSL-a pragmatic approach to behavior engineeringLoetzsch, Martin and Risler, Max and Jungel, Matthias2006 Architectures and Programming, System Deployment, Capability Building,
Lotz2014Towards a Stepwise Variability Management Process for Complex Systems: A Robotics PerspectiveLotz, Alex and Inglés-Romero, Juan F. and Stampfer, Dennis and Lutz, Matthias and Vicente-Chicote, Cristina and Schlegel, Christian2014 Architectures and Programming,
lyons2013gettingGetting it right the first time: Robot mission guarantees in the presence of uncertaintyLyons, Damian M and Arkin, Ronald C and Nirmal, Paramesh and Liu, T-M and Deeb, J and others2013 Architectures and Programming, Functional Design, Capability Building,
mackenzie1995specificationSpecification and execution of multiagent missionsMacKenzie, Douglas C and Cameron, Jonathan M and Arkin, Ronald C1995 Motion Planning, Architectures and Programming, Capability Building,
maenpaa2004distributedA distributed architecture for executing complex tasks with multiple robotsMaenpaa, Topi and Tikanmaki, Antti and Riekki, Jukka and Roning, Juha2004 Architectures and Programming, Capability Building,
mallet2002specificationA specification of generic robotics software components: future evolutions of G en o M in the Orocos contextMallet, Anthony and Fleury, Sara and Bruyninckx, Herman2002 Architectures and Programming, Capability Building, System Deployment,
mallet2010genom3GenoM3: Building middleware-independent robotic componentsMallet, Anthony and Pasteur, C\ edric and Herrb, Matthieu and Lemaignan, S\ everin and Ingrand, F\ elix2010 Architectures and Programming, Capability Building,
manikonda1995motionA motion description language and a hybrid architecture for motion planning with nonholonomic robotsManikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James1995 Kinematics, Motion Control, Functional Design, Capability Building,
menga1991frameworkA framework for object oriented design and prototyping of manufacturing systemsMenga, G and Morisio, M and Mancin, M1991 Architectures and Programming, Capability Building,
morelli2014controlControl and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven ApproachMorelli, Matteo and Di Natale, Marco2014 Architectures and Programming, Motion Control, Platform Building, Capability Building, System Deployment,
mosemann2001automaticAutomatic decomposition of planned assembly sequences into skill primitivesMosemann, Heiko and Wahl, Friedrich M2001 Architectures and Programming, Motion Planning, Capability Building,
MuheDSLRob2010On reverse-engineering the KUKA Robot LanguageMühe, Henrik and Angerer, Andreas and Hoffmann, Alwin and Reif, Wolfgang2010 Architectures and Programming, Motion Control,
Murray1992Control primitives for robot systemsMurray, Richard M. and Deno, D. Curtis and Pister, Kristofer S. J. and Sastry, S. Shankar1992
nilas2004innovativeAn innovative high-level human-robot interaction for disabled personsNilas, Phongchai and Rani, Pramila and Sarkar, Nilanjan2004 Mechanisms and Actuation, Sensing and Estimation, Capability Building,
nishiyama1998logicLogic specifications for multiple robots based on a current programming languageNishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio1998 Motion Control, Architectures and Programming, Capability Building, Platform Building,
NordmannDSLRob2012A Domain-Specific Language for Rich Motor Skill ArchitecturesNordmann, Arne and Wrede, Sebastian2012 Architectures and Programming, Motion Control,
nordmann2015modelingModeling of Movement Control Architectures based on Motion Primitives using Domain-Specific LanguagesArne Nordmann and Sebastian Wrede and Jochen J. Steil2015 Motion Control, Architectures and Programming, Functional Design, Capability Building,
noreils1995planPlan execution monitoring and control architecture for mobile robotsNoreils, Fabrice R and Chatila, Raja G1995 Reasoning Methods, Architectures and Programming, Capability Building, Scenario Building, Platform Building,
o2014automaticAutomatic Verification of Autonomous Robot MissionsO’Brien, Matthew and Arkin, Ronald C and Harrington, Dagan and Lyons, Damian and Jiang, Shu2014 Architectures and Programming, Reasoning Methods, Capability Building,
ortiz2014componentA Component-Based Meta-Model and Framework in the Model Driven Toolchain C-ForgeOrtiz, Francisco J and Alonso, Diego and Rosique, Francisca and S\ anchez-Ledesma, Francisco and Pastor, Juan A2014 Architectures and Programming, Functional Design, Capability Building, System Deployment,
pembeci2003functionalFunctional reactive programming as a hybrid system frameworkPembeci, Izzet and Hager, Gregory2003 Architectures and Programming, Capability Building,
peterson1999languageA language for declarative robotic programmingPeterson, John and Hager, Gregory D and Hudak, Paul1999 Architectures and Programming, Capability Building,
ramadorai1994genericA generic kinematics software packageRamadorai, Arvind K and Ganapathy, U and Guida, F1994 Kinematics, Motion Control, Platform Building, Capability Building,
raman2012avoidingAvoiding forgetfulness: Structured English specifications for high-level robot control with implicit memoryRaman, Vasumathi and Xu, Bingxin and Kress-Gazit, Hadas2012 Reasoning Methods, Architectures and Programming, Scenario Building,
raman2013explainingExplaining impossible high-level robot behaviorsRaman, Vasumathi and Kress-Gazit, Hadas2013 Architectures and Programming, Reasoning Methods, Capability Building, Functional Design,
ramaswamy2014saferobotsSafeRobots: A model-driven Framework for developing Robotic SystemsRamaswamy, Anand and Monsuez, Bruno and Tapus, Adriana2014 Architectures and Programming, Platform Building, Functional Design, Capability Building,
ramaswamy2014solutionSolution space modeling for robotic systemsRamaswamy, Arun Kumar and Monsuez, Bruno and Tapus, Adriana2014 Architectures and Programming, Sensing and Estimation, Capability Building, Platform Building,
ramirez2011automaticAutomatic derivation of utility functions for monitoring software requirementsRamirez, Andres J and Cheng, Betty HC2011 Architectures and Programming, Functional Design, Capability Building, Product Maintenance,
Reckhaus2010A Platform-Independent Programming Environment for Robot ControlReckhaus, M. and Hochgeschwender, N.2010 Architectures and Programming,
roehr2014reconfigurableReconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space explorationRoehr, Thomas M and Cordes, Florian and Kirchner, Frank2014 Architectures and Programming, Mechanisms and Actuation, Reasoning Methods, Platform Building, Functional Design,
Romero2011Improving the Lifecycle of Robotics Components using Domain-Specific LanguagesRomero-Garc\ es, A. and Manso, L.J. and Gutierrez, M.A. and Cintas, R. and Bustos, P.2013 components,
rugg1994formalA formal semantics for multiple vehicle task and motion planningRugg-Gunn, Neil and Cameron, Stephen1994 Motion Planning, Architectures and Programming, Capability Building,
rusakov2014simpleSimple concurrency for robotics with the Roboscoop frameworkRusakov, Andrey and Shin, Jiwon and Meyer, Bertrand2014 Architectures and Programming, Capability Building,
schlegel2010designDesign abstraction and processes in robotics: From code-driven to model-driven engineeringSchlegel, Christian and Steck, Andreas and Brugali, Davide and Knoll, Alois2010 Architectures and Programming, System Deployment, Capability Building, Functional Design,
Schneider2014Structured Design and Development of Domain-Specific Languages in RoboticsSchneider, Sven and Hochgeschwender, Nico and Kraetzschmar,Gerhard K.2014 manipulation-and-grasping,
schneider2014declarativeDeclarative specification of task-based grasping with constraint validationSchneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K2014 Mechanisms and Actuation, Motion Planning, Capability Building, Platform Building,
simmons1998taskA task description language for robot controlSimmons, Reid and Apfelbaum, David1998 Architectures and Programming, Capability Building,
steck2011managingManaging execution variants in task coordination by exploiting design-time models at run-timeSteck, Andreas and Schlegel, Christian2011 Architectures and Programming, Reasoning Methods, Capability Building,
sun2012modelA model-driven approach to support engineering changes in industrial robotics softwareSun, Yu and Gray, Jeff and Bulheller, Karlheinz and von Baillou, Nicolaus2012 Architectures and Programming, Capability Building,
thomas2013newA New Skill Based Robot Programming Language Using UML/P StatechartsThomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas2013 Motion Control, Architectures and Programming, Functional Design, Capability Building,
tousignant2011overviewAn overview of XRobots: A hierarchical state machine based languageTousignant, Steve and Van Wyk, Eric and Gini, Maria2011 Architectures and Programming, Capability Building,
tousignant2012xrobotsXRobots: A flexible language for programming mobile robots based on hierarchical state machinesTousignant, Steve and Van Wyk, Eric and Gini, Maria2012 Architectures and Programming, Capability Building,
Trojanek2011Model-Driven Engineering Approach to Design and Implementation of Robot Control SystemTrojanek, Piotr2011 Architectures and Programming,
utz2005hierarchicalHierarchical behavior organizationUtz, Hans and Kraetzschmar, Gerhard and Mayer, Gerd and Palm, G\ unther2005 Architectures and Programming, Motion Control, Capability Building,
vanthienen2013rapidRapid application development of constrained-based task modelling and execution using domain specific languagesVanthienen, Dominick and Klotzbuucher, M and De Schutter, Joris and De Laet, Tinne and Bruyninckx, Herman2013 Motion Control, Kinematics, Capability Building,
wang2001reconfigurableReconfigurable software for open architecture controllersWang, Shige and Shin, Kang G2001 Architectures and Programming, Capability Building,
woithe2009programmingA programming architecture for smart autonomous underwater vehiclesWoithe, Hans C and Kremer, Ulrich2009 Architectures and Programming, Capability Building,
yoong2012combiningCombining IEC 61499 model-based design with component-based architecture for roboticsYoong, Li Hsien and Bhatti, Zeeshan E and Roop, Partha S2012 Architectures and Programming,
zhang2003controlControl of small formations using shape coordinatesZhang, Fumin and Goldgeier, Michael and Krishnaprasad, Perinkulam S2003 Motion Planning, Motion Control, Capability Building,
saglietti2016modeldrivenModel-driven Structural and Statistical Testing of Robot Cooperation and ReconfigurationSaglietti, Francesca and Meitner, Matthias2016 Architectures and Programming, System Benchmarking, Product Deployment, Product Maintenance,
Araiza-Illan2016Intelligent Agent-Based Stimulation for Testing Robotic Software in Human-Robot InteractionsAraiza-Illan, Dejanira and Pipe, Anthony G. and Eder, Kerstin2016 Sensing and Estimation, Motion Planning, Capability Building,
ringert2015languageLanguage and code generator composition for model-driven engineering of robotics component \& connector systemsRingert, Jan Oliver and Alexander, Roth and Bernhard, Rumpe and Andreas, Wortmann2015 Architectures and Programming, Platform Building, Capability Building, System Deployment,
Ciccozzi2016AdoptingAdopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot SystemsFederico Ciccozzi and Davide Di Ruscio and Ivano Malavolta and Patrizio Pelliccione2016 Architectures and Programming, Scenario Building, Functional Design, Product Maintenance,
ramaswamy2017extensibleAn Extensible Model-based Framework Development Methodology for Robotic SystemsRamaswamy, Arunkumar and Monsuez, Bruno and Tapus, Adriana2017 Architectures and Programming, Functional Design,
ramaswamy2016anAn Extensible Model-Based Framework for Robotics Software DevelopmentA. Ramaswamy and B. Monsuez and A. Tapus2016 Architectures and Programming, Functional Design,
gritzner2018synthesizingSynthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsGritzner, Daniel and Greenyer, Joel2018 Architectures and Programming, Scenario Building, Functional Design, Platform Building, Capability Building,
Weintrop2018EvaluatingEvaluating CoBlox: A Comparative Study of Robotics Programming Environments for Adult NovicesWeintrop, David and Afzal, Afsoon and Salac, Jean and Francis, Patrick and Li, Boyang and Shepherd, David C. and Franklin, Diana2018
Detzner2019NovelA Novel Task Language for Natural Interaction in Human-Robot Systems for Warehouse LogisticsPeter Detzner and Thomas Kirks and Jana Jost2019 Architectures and Programming, Scenario Building, Functional Design,
garcia2019highHigh-level mission specification for multiple robotsGarc\ \ia, Sergio and Pelliccione, Patrizio and Menghi, Claudio and Berger, Thorsten and Bures, Tomas2019 Coordination, Architectures and Programming, Scenario Building,
menghi2019SpecificationSpecification Patterns for Robotic MissionsC. Menghi and C. Tsigkanos and P. Pelliccione and C. Ghezzi and T. Berger2019 Motion Planning, Reasoning Methods, Scenario Building,

1 A DSL in this context is a "focussed, processable language for describing a specific concern when building a system in a specific domain. The abstractions and notations used are natural/suitable for the stakeholders who specify that particular concern" [Voelter].



An important DSL is missing? Here is how to contribute! When using content of the Robotics DSL Zoo or referring to it, pleace consider citing our survey paper:

@article{nordmann2016survey,
  author       = {Nordmann, Arne and Hochgeschwender, Nico and Wigand, Dennis Leroy and Wrede, Sebastian},
  journal      = {Journal of Software Engineering in Robotics (JOSER)},
  number       = {1},
  pages        = {75--99},
  title        = {{A Survey on Domain-Specific Modeling and Languages in Robotics}},
  volume       = {7},
  year         = {2016},
}
    

A. Nordmann, N. Hochgeschwender, D. Wigand and S. Wrede, “A Survey on Domain-Specific Modeling Languages in Robotics”, Journal of Software Engineering for Robotics (JOSER), 2016