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.
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 |
|---|---|---|---|---|
| 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 |
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 |
|---|---|---|---|---|
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot control | Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas | 2010 | LTL |
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 |
|---|---|---|---|---|
| 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 |
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 |
|---|---|---|---|---|
| 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 |
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},
}