Description of architectural structures and software designs in general by independent and orthogonal views. This discipline corresponds to the Section 2.3.1 in the SWEBOK.
In the Scenario Building phase, environment features, constraints and characteristics are defined. Furthermore, the robot's task is defined. This includes the specification of customer acceptance tests to be performed in the specified and potentially generalized environment.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| kunze2011towards | Towards semantic robot description languages | Kunze, Lars and Roehm, Tobias and Beetz, Michael | 2011 | OWL |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robots | Noreils, Fabrice R and Chatila, Raja G | 1995 | (E)BNF |
| Ciccozzi2016Adopting | Adopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot Systems | Federico Ciccozzi and Davide Di Ruscio and Ivano Malavolta and Patrizio Pelliccione | 2016 | |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) Specifications | Gritzner, Daniel and Greenyer, Joel | 2018 |
In the Functional Design phase, hardware requirements and top-level functionalities are derived based on the scenario definition. Furthermore, top-level functionalities are decomposed and dependencies among them are identified. Also an initial functional design stating which functionalities interact with each other is developed.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework Mappings | Anderson, Monica and Bowman, Jason and Kilgo, Paul | 2012 | ANTLR grammar |
| causse1993man | A man machine interface for a mobile robot | Causse, Olivier and Crowley, James L | 1993 | (E)BNF |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applications | Dhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal | 2012 | UML/MOF |
| dittes2011intelligent | Intelligent system architectures-comparison by translation | Dittes, Benjamin and Goerick, Christian | 2011 | |
| gherardi2014modeling | Modeling and reusing robotic software architectures: the hyperflex toolchain | Gherardi, Luca and Brugali, Davide | 2014 | ecore |
| hochgeschwender2013model | A model-based approach to software deployment in robotics | Hochgeschwender, Nico and Gherardi, Luca and Shakhirmardanov, Azamat and Kraetzschmar, Gerhard K and Brugali, Davide and Bruyninckx, Herman | 2013 | ecore |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages | Arne Nordmann and Sebastian Wrede and Jochen J. Steil | 2015 | |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic Systems | Ramaswamy, Anand and Monsuez, Bruno and Tapus, Adriana | 2014 | ecore |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineering | Schlegel, Christian and Steck, Andreas and Brugali, Davide and Knoll, Alois | 2010 | UML/MOF |
| Ciccozzi2016Adopting | Adopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot Systems | Federico Ciccozzi and Davide Di Ruscio and Ivano Malavolta and Patrizio Pelliccione | 2016 | |
| ramaswamy2017extensible | An Extensible Model-based Framework Development Methodology for Robotic Systems | Ramaswamy, Arunkumar and Monsuez, Bruno and Tapus, Adriana | 2017 | |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) Specifications | Gritzner, Daniel and Greenyer, Joel | 2018 |
In the Platform Building phase, the robot hardware is determined. This includes the selection and potential configuration of robot's sensors and actuators meeting the requirements defined in the functional design phase.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework Mappings | Anderson, Monica and Bowman, Jason and Kilgo, Paul | 2012 | ANTLR grammar |
| bordignon2011generalized | Generalized programming of modular robots through kinematic configurations | Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh | 2011 | |
| causse1993man | A man machine interface for a mobile robot | Causse, Olivier and Crowley, James L | 1993 | (E)BNF |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception Architectures | Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K | 2014 | ecore |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming language | Nishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio | 1998 | unknown |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robots | Noreils, Fabrice R and Chatila, Raja G | 1995 | (E)BNF |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic Systems | Ramaswamy, Anand and Monsuez, Bruno and Tapus, Adriana | 2014 | ecore |
| ramaswamy2014solution | Solution space modeling for robotic systems | Ramaswamy, Arun Kumar and Monsuez, Bruno and Tapus, Adriana | 2014 | ecore |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component \& connector systems | Ringert, Jan Oliver and Alexander, Roth and Bernhard, Rumpe and Andreas, Wortmann | 2015 | |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) Specifications | Gritzner, Daniel and Greenyer, Joel | 2018 |
In the Capability Building phase, basic and composite components are constructed up to the application-level and constraints for their deployment are specified. This also includes the specification and eventually generation of additional knowledge required for component execution such as knowledge bases and training data.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| alonso2010v3cmm | V3cmm: A 3-view component meta-model for model-driven robotic software development | Alonso, Diego and Vicente-Chicote, Cristina and Ortiz, Francisco and Pastor, Juan and Alvarez, Barbara | 2010 | ecore |
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework Mappings | Anderson, Monica and Bowman, Jason and Kilgo, Paul | 2012 | ANTLR grammar |
| bordignon2011generalized | Generalized programming of modular robots through kinematic configurations | Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh | 2011 | |
| bouzouia1998three | A three-layer workcell control architecture design | Bouzouia, Brahim and Guerroumi, Fawzi and Boukhezar, Abdelmalek | 1998 | unknown |
| causse1993man | A man machine interface for a mobile robot | Causse, Olivier and Crowley, James L | 1993 | (E)BNF |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applications | Dhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal | 2012 | UML/MOF |
| dittes2011intelligent | Intelligent system architectures-comparison by translation | Dittes, Benjamin and Goerick, Christian | 2011 | |
| fleury1997g | GenoM: A Tool for the Specification and the Implementation of Operating Modules in a Distributed Robot Architecture | Fleury, Sara and Herrb, Matthieu and Chatila, Raja | 1997 | unknown |
| gherardi2014modeling | Modeling and reusing robotic software architectures: the hyperflex toolchain | Gherardi, Luca and Brugali, Davide | 2014 | ecore |
| hochgeschwender2013model | A model-based approach to software deployment in robotics | Hochgeschwender, Nico and Gherardi, Luca and Shakhirmardanov, Azamat and Kraetzschmar, Gerhard K and Brugali, Davide and Bruyninckx, Herman | 2013 | ecore |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception Architectures | Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K | 2014 | ecore |
| hongxing2009component | A component based design framework for robot software architecture | Hongxing, Wei and Xinming, Duan and Shiyi, Li and Guofeng, Tong and Tianmiao, Wang | 2009 | (E)BNF |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
| kunze2011towards | Towards semantic robot description languages | Kunze, Lars and Roehm, Tobias and Beetz, Michael | 2011 | OWL |
| mallet2002specification | A specification of generic robotics software components: future evolutions of G en o M in the Orocos context | Mallet, Anthony and Fleury, Sara and Bruyninckx, Herman | 2002 | (E)BNF |
| mallet2010genom3 | GenoM3: Building middleware-independent robotic components | Mallet, Anthony and Pasteur, C\ edric and Herrb, Matthieu and Lemaignan, S\ everin and Ingrand, F\ elix | 2010 | unknown |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming language | Nishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio | 1998 | unknown |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages | Arne Nordmann and Sebastian Wrede and Jochen J. Steil | 2015 | |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robots | Noreils, Fabrice R and Chatila, Raja G | 1995 | (E)BNF |
| pembeci2003functional | Functional reactive programming as a hybrid system framework | Pembeci, Izzet and Hager, Gregory | 2003 | |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic Systems | Ramaswamy, Anand and Monsuez, Bruno and Tapus, Adriana | 2014 | ecore |
| ramaswamy2014solution | Solution space modeling for robotic systems | Ramaswamy, Arun Kumar and Monsuez, Bruno and Tapus, Adriana | 2014 | ecore |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineering | Schlegel, Christian and Steck, Andreas and Brugali, Davide and Knoll, Alois | 2010 | UML/MOF |
| steck2011managing | Managing execution variants in task coordination by exploiting design-time models at run-time | Steck, Andreas and Schlegel, Christian | 2011 | |
| sun2012model | A model-driven approach to support engineering changes in industrial robotics software | Sun, Yu and Gray, Jeff and Bulheller, Karlheinz and von Baillou, Nicolaus | 2012 | |
| utz2005hierarchical | Hierarchical behavior organization | Utz, Hans and Kraetzschmar, Gerhard and Mayer, Gerd and Palm, G\ unther | 2005 | XSD |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component \& connector systems | Ringert, Jan Oliver and Alexander, Roth and Bernhard, Rumpe and Andreas, Wortmann | 2015 | |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) Specifications | Gritzner, Daniel and Greenyer, Joel | 2018 |
In the System Deployment phase, top-level component(s) are packaged into a complete application system which defines a mapping of components and composites to computational units. Furthermore, features and procedures for system launch management are developed.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| alonso2010v3cmm | V3cmm: A 3-view component meta-model for model-driven robotic software development | Alonso, Diego and Vicente-Chicote, Cristina and Ortiz, Francisco and Pastor, Juan and Alvarez, Barbara | 2010 | ecore |
| bouzouia1998three | A three-layer workcell control architecture design | Bouzouia, Brahim and Guerroumi, Fawzi and Boukhezar, Abdelmalek | 1998 | unknown |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applications | Dhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal | 2012 | UML/MOF |
| hochgeschwender2013model | A model-based approach to software deployment in robotics | Hochgeschwender, Nico and Gherardi, Luca and Shakhirmardanov, Azamat and Kraetzschmar, Gerhard K and Brugali, Davide and Bruyninckx, Herman | 2013 | ecore |
| mallet2002specification | A specification of generic robotics software components: future evolutions of G en o M in the Orocos context | Mallet, Anthony and Fleury, Sara and Bruyninckx, Herman | 2002 | (E)BNF |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineering | Schlegel, Christian and Steck, Andreas and Brugali, Davide and Knoll, Alois | 2010 | UML/MOF |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component \& connector systems | Ringert, Jan Oliver and Alexander, Roth and Bernhard, Rumpe and Andreas, Wortmann | 2015 |
In the Product Maintenance phase, the robot application is operated and maintained. This includes eventually the analysis of log files and the tuning of system parameters.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| hochgeschwender2014declarative | Declarative Specification of Robot Perception Architectures | Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K | 2014 | ecore |
| Ciccozzi2016Adopting | Adopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot Systems | Federico Ciccozzi and Davide Di Ruscio and Ivano Malavolta and Patrizio Pelliccione | 2016 |
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},
}