Architectures and Programming refers to the way a robotic system is designed on the software-level. It can be divided into architectural structure and architectural style.
The structure is represented by how the system is split up into subsystems and how they interact with each other.
The style however addresses the underlying computational concepts.
This subdomain corresponds to Part A, Chapter 8 in the Handbook of Robotics.
Due to its large number of entries, the Architectures and Programming subdomain is further subdivided into its disciplines, see Architectures and Programming Disciplines.
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 |
|---|---|---|---|---|
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot control | Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas | 2010 | LTL |
| knoop2007automatic | Automatic robot programming from learned abstract task knowledge | Knoop, Steffen and Pardowitz, Michael and Dillmann, R\ udiger | 2007 | |
| 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 |
| raman2012avoiding | Avoiding forgetfulness: Structured English specifications for high-level robot control with implicit memory | Raman, Vasumathi and Xu, Bingxin and Kress-Gazit, Hadas | 2012 | LTL |
| 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 | |
| Detzner2019Novel | A Novel Task Language for Natural Interaction in Human-Robot Systems for Warehouse Logistics | Peter Detzner and Thomas Kirks and Jana Jost | 2019 | ANTLR |
| garcia2019high | High-level mission specification for multiple robots | Garc\ \ia, Sergio and Pelliccione, Patrizio and Menghi, Claudio and Berger, Thorsten and Bures, Tomas | 2019 |
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 |
|---|---|---|---|---|
| adam2014towards | Towards rule-based dynamic safety monitoring for mobile robots | Adam, Sorin and Larsen, Morten and Jensen, Kjeld and Schultz, Ulrik Pagh | 2014 | unknown |
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework Mappings | Anderson, Monica and Bowman, Jason and Kilgo, Paul | 2012 | ANTLR grammar |
| braberman2013controller | Controller synthesis: From modelling to enactment | Braberman, V\ \ictor and D Ippolito, Nicolas and Piterman, Nir and Sykes, Daniel and Uchitel, Sebastian | 2013 | |
| buch2014applying | Applying Simulation and a Domain-Specific Language for an Adaptive Action Library | Buch, 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 Gordon | 2014 | (E)BNF |
| causse1993man | A man machine interface for a mobile robot | Causse, Olivier and Crowley, James L | 1993 | (E)BNF |
| coste1997maestro | The maestro language and its environment: Specification, validation and control of robotic missions | Coste-Maniere, Eve and Turro, Nicolas | 1997 | 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 |
| dittes2011intelligent | Intelligent system architectures-comparison by translation | Dittes, Benjamin and Goerick, Christian | 2011 | |
| dittes2011language | A language for formal design of embedded intelligence research systems | Dittes, Benjamin and Goerick, Christian | 2011 | other |
| feniello2014program | Program synthesis by examples for object repositioning tasks | Feniello, Ashley and Dang, Hao and Birchfield, Stan | 2014 | unknown |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot control | Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas | 2010 | LTL |
| fleurey2009domain | A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systems | Fleurey, Franck and Solberg, Arnor | 2009 | ecore |
| gherardi2014modeling | Modeling and reusing robotic software architectures: the hyperflex toolchain | Gherardi, Luca and Brugali, Davide | 2014 | ecore |
| gordillo1991high | LE: a high level language for specifying vision verification tasks | Gordillo, Jose L | 1991 | unknown |
| henderson1984logical | Logical sensor systems | Henderson, Tom and Shilcrat, Esther | 1984 | (E)BNF |
| 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 |
| kang20053d | 3d virtual prototyping of home service robots using asadal/obj | Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon | 2005 | unknown |
| kress2007structured | From structured english to robot motion | Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J | 2007 | LTL |
| lyons2013getting | Getting it right the first time: Robot mission guarantees in the presence of uncertainty | Lyons, Damian M and Arkin, Ronald C and Nirmal, Paramesh and Liu, T-M and Deeb, J and others | 2013 | 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 | |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-Forge | Ortiz, Francisco J and Alonso, Diego and Rosique, Francisca and S\ anchez-Ledesma, Francisco and Pastor, Juan A | 2014 | unknown |
| raman2013explaining | Explaining impossible high-level robot behaviors | Raman, Vasumathi and Kress-Gazit, Hadas | 2013 | |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic Systems | Ramaswamy, Anand and Monsuez, Bruno and Tapus, Adriana | 2014 | ecore |
| ramirez2011automatic | Automatic derivation of utility functions for monitoring software requirements | Ramirez, Andres J and Cheng, Betty HC | 2011 | |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration | Roehr, Thomas M and Cordes, Florian and Kirchner, Frank | 2014 | |
| 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 |
| thomas2013new | A New Skill Based Robot Programming Language Using UML/P Statecharts | Thomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas | 2013 | other |
| 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 | |
| ramaswamy2016an | An Extensible Model-Based Framework for Robotics Software Development | A. Ramaswamy and B. Monsuez and A. Tapus | 2016 | |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) Specifications | Gritzner, Daniel and Greenyer, Joel | 2018 | |
| Detzner2019Novel | A Novel Task Language for Natural Interaction in Human-Robot Systems for Warehouse Logistics | Peter Detzner and Thomas Kirks and Jana Jost | 2019 | ANTLR |
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 |
| datta2012robostudio | Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robot | Datta, Chandan and Jayawardena, Chandimal and Kuo, I Han and MacDonald, Bruce A | 2012 | unknown |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and Validation | Gobillot, Nicolas and Lesire, Charles and Doose, David | 2014 | unknown |
| 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 |
| kang20053d | 3d virtual prototyping of home service robots using asadal/obj | Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon | 2005 | unknown |
| kim2003task | Task description language for underwater robots | Kim, Tae Won and Yuh, Junku | 2003 | (E)BNF |
| lesire2012mauve | Mauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications. | Lesire, Charles and Doose, David and Cass\ e, Hug | 2012 | ecore |
| ljungkrantz2007implementing | Implementing a control system framework for automatic generation of manufacturing cell controllers | Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin | 2007 | XSD |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 2014 | ecore |
| 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 |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration | Roehr, Thomas M and Cordes, Florian and Kirchner, Frank | 2014 | |
| 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 |
|---|---|---|---|---|
| abdellatif2012rigorous | Rigorous design of robot software: A formal component-based approach | Abdellatif, Tesnim and Bensalem, Saddek and Combaz, Jacques and De Silva, Lavindra and Ingrand, Felix | 2012 | |
| adam2014towards | Towards rule-based dynamic safety monitoring for mobile robots | Adam, Sorin and Larsen, Morten and Jensen, Kjeld and Schultz, Ulrik Pagh | 2014 | unknown |
| aertbelien2014etasl | eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs | Aertbeli\ en, Erwin and De Schutter, Joris | 2014 | |
| aggarwal1994specification | Specification and automated implementation of coordination protocols in distributed controls for flexible manufacturing cells | Aggarwal, Sudhir and Mitra, Sandeep and Jagdale, Sanjay S | 1994 | unknown |
| 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 |
| barth2012goto | A GOTO-based concept for intuitive robot programming | Barth, Katharina and Henrich, Dominik | 2012 | other |
| berenz2014targets | Targets-Drives-Means: A declarative approach to dynamic behavior specification with higher usability | Berenz, Vincent and Suzuki, Kenji | 2014 | unknown |
| biggs2006specifying | Specifying robot reactivity in procedural languages | Biggs, Geoffrey and MacDonald, Bruce A | 2006 | unknown |
| biggs2008evaluating | Evaluating a reactive semantics for robotics | Biggs, Geoffrey and MacDonald, Bruce A | 2008 | |
| 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 |
| braberman2013controller | Controller synthesis: From modelling to enactment | Braberman, V\ \ictor and D Ippolito, Nicolas and Piterman, Nir and Sykes, Daniel and Uchitel, Sebastian | 2013 | |
| buch2014applying | Applying Simulation and a Domain-Specific Language for an Adaptive Action Library | Buch, 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 Gordon | 2014 | (E)BNF |
| burbidge2009grammatical | Grammatical evolution of a robot controller | Burbidge, Robert and Walker, Joanne H and Wilson, Myra S | 2009 | (E)BNF |
| causse1993man | A man machine interface for a mobile robot | Causse, Olivier and Crowley, James L | 1993 | (E)BNF |
| chaki2014model | Model-Driven Verifying Compilation of Synchronous Distributed Applications | Chaki, Sagar and Edmondson, James | 2014 | (E)BNF |
| coste1997maestro | The maestro language and its environment: Specification, validation and control of robotic missions | Coste-Maniere, Eve and Turro, Nicolas | 1997 | unknown |
| dai2002specifying | Specifying behavior in C++ | Dai, Xiangtian and Hager, Gregory and Peterson, John | 2002 | |
| dantam2011motion | The motion grammar for physical human-robot games | Dantam, Neil and Koine, P and Stilman, Mike | 2011 | other |
| dantam2012linguistic | Linguistic transfer of human assembly tasks to robots | Dantam, Neil and Essa, Irfan and Stilman, Mike | 2012 | (E)BNF |
| datta2012robostudio | Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robot | Datta, Chandan and Jayawardena, Chandimal and Kuo, I Han and MacDonald, Bruce A | 2012 | unknown |
| de2007distributed | Distributed watchpoints: Debugging large multi-robot systems | De Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T | 2007 | (E)BNF |
| de2012scripting | A Scripting-Based Approach to Robot Behavior Engineering using Hierarchical Generators | de Haas, Thijs Jeffry and Laue, Tim and Rofer, T | 2012 | 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 |
| dittes2011intelligent | Intelligent system architectures-comparison by translation | Dittes, Benjamin and Goerick, Christian | 2011 | |
| dittes2011language | A language for formal design of embedded intelligence research systems | Dittes, Benjamin and Goerick, Christian | 2011 | other |
| fayman1999av | AV-shell, an environment for autonomous robotic applications using active vision | Fayman, Jeffrey A and Rivlin, Ehud and Christensen, Henrik I | 1999 | unknown |
| feniello2014program | Program synthesis by examples for object repositioning tasks | Feniello, Ashley and Dang, Hao and Birchfield, Stan | 2014 | unknown |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot control | Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas | 2010 | LTL |
| fleurey2009domain | A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systems | Fleurey, Franck and Solberg, Arnor | 2009 | ecore |
| fleury1994design | Design of a modular architecture for autonomous robot | Fleury, Sara and Herrb, Matthieu and Chatila, Raja | 1994 | unknown |
| 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 |
| freund2001state | State oriented modeling as enabling technology for projective virtual reality | Freund, Eckhard and Schluse, Michael and Rossmann, J\ urgen | 2001 | unknown |
| gat1991alfa | Alfa: A language for programming reactive robotic control systems | Gat, Erann | 1991 | unknown |
| gherardi2014modeling | Modeling and reusing robotic software architectures: the hyperflex toolchain | Gherardi, Luca and Brugali, Davide | 2014 | ecore |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and Validation | Gobillot, Nicolas and Lesire, Charles and Doose, David | 2014 | unknown |
| gordillo1991high | LE: a high level language for specifying vision verification tasks | Gordillo, Jose L | 1991 | unknown |
| graves1999distributed | Distributed generic control for multiple types of telerobot | Graves, Alan R and Czarnecki, Chris | 1999 | unknown |
| henderson1984logical | Logical sensor systems | Henderson, Tom and Shilcrat, Esther | 1984 | (E)BNF |
| 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 |
| horswill2000functional | Functional programming of behavior-based systems | Horswill, Ian Douglas | 2000 | |
| hsieh2007adaptive | Adaptive teams of autonomous aerial and ground robots for situational awareness | Hsieh, 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 others | 2007 | unknown |
| ingrand2002execution | An execution control system for autonomous robots | Ingrand, F\ elix and Py, Frederic | 2002 | unknown |
| ingrand2007decisional | Decisional autonomy of planetary rovers | Ingrand, F\ elix and Lacroix, Simon and Lemai-Chenevier, Solange and Py, Frederic | 2007 | unknown |
| 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 |
| joyeux2010managing | Managing plans: Integrating deliberation and reactive execution schemes | Joyeux, Sylvain and Kirchner, Frank and Lacroix, Simon | 2010 | unknown |
| kang20053d | 3d virtual prototyping of home service robots using asadal/obj | Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon | 2005 | unknown |
| kim2003task | Task description language for underwater robots | Kim, Tae Won and Yuh, Junku | 2003 | (E)BNF |
| kovsecka1997experiments | Experiments in behavior composition | Ko\vseck\ a, Jan | 1997 | other |
| kress2007structured | From structured english to robot motion | Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J | 2007 | LTL |
| kubica2002creating | Creating a smarter membrane: Automatic code generation for modular self-reconfigurable robots | Kubica, Jeremy and Rieffel, Eleanor | 2002 | unknown |
| kulakowski2012modeling | Modeling robot behavior with CCL | Ku\lakowski, Konrad and Szmuc, Tomasz | 2012 | |
| kunze2011towards | Towards semantic robot description languages | Kunze, Lars and Roehm, Tobias and Beetz, Michael | 2011 | OWL |
| lesire2012mauve | Mauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications. | Lesire, Charles and Doose, David and Cass\ e, Hug | 2012 | ecore |
| ljungkrantz2007implementing | Implementing a control system framework for automatic generation of manufacturing cell controllers | Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin | 2007 | XSD |
| loetzsch2006xabsl | XABSL-a pragmatic approach to behavior engineering | Loetzsch, Martin and Risler, Max and Jungel, Matthias | 2006 | (E)BNF |
| lyons2013getting | Getting it right the first time: Robot mission guarantees in the presence of uncertainty | Lyons, Damian M and Arkin, Ronald C and Nirmal, Paramesh and Liu, T-M and Deeb, J and others | 2013 | unknown |
| mackenzie1995specification | Specification and execution of multiagent missions | MacKenzie, Douglas C and Cameron, Jonathan M and Arkin, Ronald C | 1995 | unknown |
| maenpaa2004distributed | A distributed architecture for executing complex tasks with multiple robots | Maenpaa, Topi and Tikanmaki, Antti and Riekki, Jukka and Roning, Juha | 2004 | XSD |
| 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 |
| menga1991framework | A framework for object oriented design and prototyping of manufacturing systems | Menga, G and Morisio, M and Mancin, M | 1991 | unknown |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 2014 | ecore |
| mosemann2001automatic | Automatic decomposition of planned assembly sequences into skill primitives | Mosemann, Heiko and Wahl, Friedrich M | 2001 | other |
| 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 |
| o2014automatic | Automatic Verification of Autonomous Robot Missions | O’Brien, Matthew and Arkin, Ronald C and Harrington, Dagan and Lyons, Damian and Jiang, Shu | 2014 | unknown |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-Forge | Ortiz, Francisco J and Alonso, Diego and Rosique, Francisca and S\ anchez-Ledesma, Francisco and Pastor, Juan A | 2014 | unknown |
| pembeci2003functional | Functional reactive programming as a hybrid system framework | Pembeci, Izzet and Hager, Gregory | 2003 | |
| peterson1999language | A language for declarative robotic programming | Peterson, John and Hager, Gregory D and Hudak, Paul | 1999 | other |
| raman2013explaining | Explaining impossible high-level robot behaviors | Raman, Vasumathi and Kress-Gazit, Hadas | 2013 | |
| 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 |
| ramirez2011automatic | Automatic derivation of utility functions for monitoring software requirements | Ramirez, Andres J and Cheng, Betty HC | 2011 | |
| rugg1994formal | A formal semantics for multiple vehicle task and motion planning | Rugg-Gunn, Neil and Cameron, Stephen | 1994 | other |
| rusakov2014simple | Simple concurrency for robotics with the Roboscoop framework | Rusakov, Andrey and Shin, Jiwon and Meyer, Bertrand | 2014 | unknown |
| 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 |
| simmons1998task | A task description language for robot control | Simmons, Reid and Apfelbaum, David | 1998 | (E)BNF |
| 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 | |
| thomas2013new | A New Skill Based Robot Programming Language Using UML/P Statecharts | Thomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas | 2013 | other |
| tousignant2011overview | An overview of XRobots: A hierarchical state machine based language | Tousignant, Steve and Van Wyk, Eric and Gini, Maria | 2011 | silver |
| tousignant2012xrobots | XRobots: A flexible language for programming mobile robots based on hierarchical state machines | Tousignant, Steve and Van Wyk, Eric and Gini, Maria | 2012 | unknown |
| utz2005hierarchical | Hierarchical behavior organization | Utz, Hans and Kraetzschmar, Gerhard and Mayer, Gerd and Palm, G\ unther | 2005 | XSD |
| wang2001reconfigurable | Reconfigurable software for open architecture controllers | Wang, Shige and Shin, Kang G | 2001 | unknown |
| woithe2009programming | A programming architecture for smart autonomous underwater vehicles | Woithe, Hans C and Kremer, Ulrich | 2009 | other |
| 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 |
| datta2012robostudio | Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robot | Datta, Chandan and Jayawardena, Chandimal and Kuo, I Han and MacDonald, Bruce A | 2012 | 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 |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and Validation | Gobillot, Nicolas and Lesire, Charles and Doose, David | 2014 | unknown |
| 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 |
| lesire2012mauve | Mauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications. | Lesire, Charles and Doose, David and Cass\ e, Hug | 2012 | ecore |
| loetzsch2006xabsl | XABSL-a pragmatic approach to behavior engineering | Loetzsch, Martin and Risler, Max and Jungel, Matthias | 2006 | (E)BNF |
| 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 |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 2014 | ecore |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-Forge | Ortiz, Francisco J and Alonso, Diego and Rosique, Francisca and S\ anchez-Ledesma, Francisco and Pastor, Juan A | 2014 | unknown |
| 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 System Benchmarking phase, certain test procedures targeting different quality attributes are performed such as stress testing, safety and security testing, reliability and durability testing, and performance testing.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| abdellatif2012rigorous | Rigorous design of robot software: A formal component-based approach | Abdellatif, Tesnim and Bensalem, Saddek and Combaz, Jacques and De Silva, Lavindra and Ingrand, Felix | 2012 | |
| de2007distributed | Distributed watchpoints: Debugging large multi-robot systems | De Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T | 2007 | (E)BNF |
| saglietti2016modeldriven | Model-driven Structural and Statistical Testing of Robot Cooperation and Reconfiguration | Saglietti, Francesca and Meitner, Matthias | 2016 |
In the Product Deployment phase, an application is tailored to a specific robot system. This includes also the installation of maintenance instrumentation and a final target platform system testing.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| fleurey2009domain | A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systems | Fleurey, Franck and Solberg, Arnor | 2009 | ecore |
| saglietti2016modeldriven | Model-driven Structural and Statistical Testing of Robot Cooperation and Reconfiguration | Saglietti, Francesca and Meitner, Matthias | 2016 |
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 |
|---|---|---|---|---|
| adam2014towards | Towards rule-based dynamic safety monitoring for mobile robots | Adam, Sorin and Larsen, Morten and Jensen, Kjeld and Schultz, Ulrik Pagh | 2014 | unknown |
| dantam2011motion | The motion grammar for physical human-robot games | Dantam, Neil and Koine, P and Stilman, Mike | 2011 | other |
| de2007distributed | Distributed watchpoints: Debugging large multi-robot systems | De Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T | 2007 | (E)BNF |
| fleurey2009domain | A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systems | Fleurey, Franck and Solberg, Arnor | 2009 | ecore |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception Architectures | Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K | 2014 | ecore |
| ramirez2011automatic | Automatic derivation of utility functions for monitoring software requirements | Ramirez, Andres J and Cheng, Betty HC | 2011 | |
| saglietti2016modeldriven | Model-driven Structural and Statistical Testing of Robot Cooperation and Reconfiguration | Saglietti, Francesca and Meitner, Matthias | 2016 | |
| 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},
}