Robotics DSL Zoo

Subdomain „Design Patterns“

Provide "a common solution to a common problem in a given context". Typically employed at a lower abstraction level than architectural styles. This discipline corresponds to the Section 2.3.3 in the SWEBOK.

Scenario Building

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.

KeyTitleAuthorsYearFormalism
Ciccozzi2016AdoptingAdopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot SystemsFederico Ciccozzi and Davide Di Ruscio and Ivano Malavolta and Patrizio Pelliccione2016
gritzner2018synthesizingSynthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsGritzner, Daniel and Greenyer, Joel2018
menghi2019SpecificationSpecification Patterns for Robotic MissionsC. Menghi and C. Tsigkanos and P. Pelliccione and C. Ghezzi and T. Berger2019

Functional Design

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.

KeyTitleAuthorsYearFormalism
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 (E)BNF
gherardi2014modelingModeling and reusing robotic software architectures: the hyperflex toolchainGherardi, Luca and Brugali, Davide2014 ecore
Ciccozzi2016AdoptingAdopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot SystemsFederico Ciccozzi and Davide Di Ruscio and Ivano Malavolta and Patrizio Pelliccione2016
gritzner2018synthesizingSynthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsGritzner, Daniel and Greenyer, Joel2018

Platform Building

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.

KeyTitleAuthorsYearFormalism
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
gritzner2018synthesizingSynthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsGritzner, Daniel and Greenyer, Joel2018

Capability Building

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.

KeyTitleAuthorsYearFormalism
barth2012gotoA GOTO-based concept for intuitive robot programmingBarth, Katharina and Henrich, Dominik2012 other
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 (E)BNF
gherardi2014modelingModeling and reusing robotic software architectures: the hyperflex toolchainGherardi, Luca and Brugali, Davide2014 ecore
mosemann2001automaticAutomatic decomposition of planned assembly sequences into skill primitivesMosemann, Heiko and Wahl, Friedrich M2001 other
Araiza-Illan2016Intelligent Agent-Based Stimulation for Testing Robotic Software in Human-Robot InteractionsAraiza-Illan, Dejanira and Pipe, Anthony G. and Eder, Kerstin2016 unknown
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
gritzner2018synthesizingSynthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsGritzner, Daniel and Greenyer, Joel2018

System Deployment

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.

KeyTitleAuthorsYearFormalism
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

Product Maintenance

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.

KeyTitleAuthorsYearFormalism
Ciccozzi2016AdoptingAdopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot SystemsFederico Ciccozzi and Davide Di Ruscio and Ivano Malavolta and Patrizio Pelliccione2016


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