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.
Kinematics refers to the motion of bodies in robotic mechanisms without taking the forces/torques causing the motion into account. Hence, it includes general representations of the position and orientation of a body, the relation among the joints as well as conventions for representing the geometry of rigid bodies connected by joints. This subdomain corresponds to Part A, Chapter 1 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| frigerio2012model | Model based code generation for kinematics and dynamics computations in robot controllers | Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G | 2012 | ecore |
| hornby2001evolution | Evolution of generative design systems for modular physical robots | Hornby, Gregory S and Lipson, Hod and Pollack, Jordan B | 2001 | 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 |
| kanayama2000s | It s time to make mobile robots programmable | Kanayama, Yutaka J and Wu, C Thomas | 2000 | |
| 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 |
| manikonda1995motion | A motion description language and a hybrid architecture for motion planning with nonholonomic robots | Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James | 1995 | other |
Dynamics covers the relationships between actuation and contact forces that act on robot mechanisms. Such a mechanism in this sense is described by rigid bodies connected by joints. Furthermore, it pertains to the acceleration and motion trajectories resulting from these relationships. This subdomain corresponds to Part A, Chapter 2 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| frigerio2012model | Model based code generation for kinematics and dynamics computations in robot controllers | Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G | 2012 | 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 |
Mechanisms and Actuation focuses on the mechanical structure of a robot that creates its movable skeleton. All elements that cause a robotic mechanism to move – so called actuators – are addressed along with the mathematical model that is used to characterize the robot's performance. This subdomain corresponds to Part A, Chapter 3 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| hornby2001evolution | Evolution of generative design systems for modular physical robots | Hornby, Gregory S and Lipson, Hod and Pollack, Jordan B | 2001 | 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 |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration | Roehr, Thomas M and Cordes, Florian and Kirchner, Frank | 2014 |
Sensing and Estimation ranges from robot-state estimation for feedback control to task-oriented interpretation of sensor data of any kind. Apart from estimation techniques, this category also covers different kinds of information representations. This subdomain corresponds to Part A, Chapter 4 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| 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 |
Motion Planning covers collision-free trajectory planning for mobile platforms as well as robot actuators. This subdomain corresponds to Part A, Chapter 5 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| 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 |
| kanayama2000s | It s time to make mobile robots programmable | Kanayama, Yutaka J and Wu, C Thomas | 2000 | |
| kress2007structured | From structured english to robot motion | Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J | 2007 | LTL |
Motion Control addresses the dynamical model of robotic manipulators. This includes different controller approaches, such as independent-joint, PID as well as torque control. This subdomain corresponds to Part A, Chapter 6 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| 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 |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot control | Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas | 2010 | LTL |
| hornby2001evolution | Evolution of generative design systems for modular physical robots | Hornby, Gregory S and Lipson, Hod and Pollack, Jordan B | 2001 | unknown |
| kanayama2000s | It s time to make mobile robots programmable | Kanayama, Yutaka J and Wu, C Thomas | 2000 | |
| kress2007structured | From structured english to robot motion | Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J | 2007 | LTL |
| manikonda1995motion | A motion description language and a hybrid architecture for motion planning with nonholonomic robots | Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James | 1995 | 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 | |
| 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 |
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.
| 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 |
Reasoning Methods focuse on symbol-based reasoning and knowledge representation. It covers logic- as well as probability-based approaches. Furthermore, this category also addresses learning, such as inductive logic learning, neuronal networks and reinforcement learning. This subdomain corresponds to Part A, Chapter 9 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| bocionek1990generating | Generating expert systems for configuration tasks | Bocionek, S and Buchka, P and Schweiger, J | 1990 | |
| feniello2014program | Program synthesis by examples for object repositioning tasks | Feniello, Ashley and Dang, Hao and Birchfield, Stan | 2014 | unknown |
| gordillo1991high | LE: a high level language for specifying vision verification tasks | Gordillo, Jose L | 1991 | unknown |
| raman2013explaining | Explaining impossible high-level robot behaviors | Raman, Vasumathi and Kress-Gazit, Hadas | 2013 | |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration | Roehr, Thomas M and Cordes, Florian and Kirchner, Frank | 2014 |
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},
}