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.
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 |
| menghi2019Specification | Specification Patterns for Robotic Missions | C. Menghi and C. Tsigkanos and P. Pelliccione and C. Ghezzi and T. Berger | 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 |
|---|---|---|---|---|
| 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 |
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 |
|---|---|---|---|---|
| schneider2014declarative | Declarative specification of task-based grasping with constraint validation | Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K | 2014 | ecore |
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 |
|---|---|---|---|---|
| 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 |
| dantam2013correct | Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. | Dantam, Neil and Hereid, Ayonga and Ames, Aaron D and Stilman, Mike | 2013 | CFG? |
| 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 |
| 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 |
| 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 |
| mackenzie1995specification | Specification and execution of multiagent missions | MacKenzie, Douglas C and Cameron, Jonathan M and Arkin, Ronald C | 1995 | unknown |
| mosemann2001automatic | Automatic decomposition of planned assembly sequences into skill primitives | Mosemann, Heiko and Wahl, Friedrich M | 2001 | other |
| rugg1994formal | A formal semantics for multiple vehicle task and motion planning | Rugg-Gunn, Neil and Cameron, Stephen | 1994 | other |
| schneider2014declarative | Declarative specification of task-based grasping with constraint validation | Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K | 2014 | ecore |
| zhang2003control | Control of small formations using shape coordinates | Zhang, Fumin and Goldgeier, Michael and Krishnaprasad, Perinkulam S | 2003 | SDD |
| Araiza-Illan2016 | Intelligent Agent-Based Stimulation for Testing Robotic Software in Human-Robot Interactions | Araiza-Illan, Dejanira and Pipe, Anthony G. and Eder, Kerstin | 2016 | unknown |
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 |
|---|---|---|---|---|
| dantam2011motion | The motion grammar for physical human-robot games | Dantam, Neil and Koine, P and Stilman, Mike | 2011 | other |
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},
}