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.
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 |
| 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 |
| 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 |
|---|---|---|---|---|
| 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 |
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 |
|---|---|---|---|---|
| bocionek1990generating | Generating expert systems for configuration tasks | Bocionek, S and Buchka, P and Schweiger, J | 1990 | |
| 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 |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robots | Noreils, Fabrice R and Chatila, Raja G | 1995 | (E)BNF |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration | Roehr, Thomas M and Cordes, Florian and Kirchner, Frank | 2014 |
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 |
|---|---|---|---|---|
| dantam2012linguistic | Linguistic transfer of human assembly tasks to robots | Dantam, Neil and Essa, Irfan and Stilman, Mike | 2012 | (E)BNF |
| 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 |
| feniello2014program | Program synthesis by examples for object repositioning tasks | Feniello, Ashley and Dang, Hao and Birchfield, Stan | 2014 | unknown |
| 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 |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception Architectures | Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K | 2014 | ecore |
| horswill2000functional | Functional programming of behavior-based systems | Horswill, Ian Douglas | 2000 | |
| joyeux2010managing | Managing plans: Integrating deliberation and reactive execution schemes | Joyeux, Sylvain and Kirchner, Frank and Lacroix, Simon | 2010 | unknown |
| 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 |
| 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 |
| raman2013explaining | Explaining impossible high-level robot behaviors | Raman, Vasumathi and Kress-Gazit, Hadas | 2013 | |
| steck2011managing | Managing execution variants in task coordination by exploiting design-time models at run-time | Steck, Andreas and Schlegel, Christian | 2011 |
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 |
|---|---|---|---|---|
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and Validation | Gobillot, Nicolas and Lesire, Charles and Doose, David | 2014 | unknown |
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 |
|---|---|---|---|---|
| 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 |
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 |
|---|---|---|---|---|
| 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 |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception Architectures | Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K | 2014 | ecore |
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},
}