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capability-building-phase.html
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<!DOCTYPE html>
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<h1>Robotics DSL Zoo</h1>
<h2>Development Phase „Capability Building“</h2>
<p>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.</p>
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<div id="chart_div_year" style="width: 550px; height: 200px; float:left;"></div><h3>Kinematics</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#aertbelien2014etasl" id="aertbelien2014etasl">aertbelien2014etasl<a/></td><td style="font-weight:bold;">eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs</td><td>Aertbeli\ en, Erwin and De Schutter, Joris</td><td>2014</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#bordignon2011generalized" id="bordignon2011generalized">bordignon2011generalized<a/></td><td style="font-weight:bold;">Generalized programming of modular robots through kinematic configurations</td><td>Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#frigerio2012code" id="frigerio2012code">frigerio2012code<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6385694">Code Generation of Algebraic Quantities for Robot Controllers</a></td><td>Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#frigerio2012model" id="frigerio2012model">frigerio2012model<a/></td><td style="font-weight:bold;">Model based code generation for kinematics and dynamics computations in robot controllers</td><td>Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kanayama2000s" id="kanayama2000s">kanayama2000s<a/></td><td style="font-weight:bold;">It s time to make mobile robots programmable</td><td>Kanayama, Yutaka J and Wu, C Thomas</td><td>2000</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#klotzbucher2011reusable" id="klotzbucher2011reusable">klotzbucher2011reusable<a/></td><td style="font-weight:bold;">Reusable hybrid force-velocity controlled motion specifications with executable domain specific languages</td><td>Klotzbucher, M and Smits, Ruben and Bruyninckx, Herman and De Schutter, Joris</td><td>2011</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#manikonda1995motion" id="manikonda1995motion">manikonda1995motion<a/></td><td style="font-weight:bold;">A motion description language and a hybrid architecture for motion planning with nonholonomic robots</td><td>Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James</td><td>1995</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramadorai1994generic" id="ramadorai1994generic">ramadorai1994generic<a/></td><td style="font-weight:bold;">A generic kinematics software package</td><td>Ramadorai, Arvind K and Ganapathy, U and Guida, F</td><td>1994</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#vanthienen2013rapid" id="vanthienen2013rapid">vanthienen2013rapid<a/></td><td style="font-weight:bold;">Rapid application development of constrained-based task modelling and execution using domain specific languages</td><td>Vanthienen, Dominick and Klotzbuucher, M and De Schutter, Joris and De Laet, Tinne and Bruyninckx, Herman</td><td>2013</td>
<td>unknown</td>
</tr>
</tbody></table><br />
<h3>Dynamics</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#aertbelien2014etasl" id="aertbelien2014etasl">aertbelien2014etasl<a/></td><td style="font-weight:bold;">eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs</td><td>Aertbeli\ en, Erwin and De Schutter, Joris</td><td>2014</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#frigerio2012code" id="frigerio2012code">frigerio2012code<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6385694">Code Generation of Algebraic Quantities for Robot Controllers</a></td><td>Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#frigerio2012model" id="frigerio2012model">frigerio2012model<a/></td><td style="font-weight:bold;">Model based code generation for kinematics and dynamics computations in robot controllers</td><td>Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
</tbody></table><br />
<h3>Mechanisms and Actuation</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#barth2012goto" id="barth2012goto">barth2012goto<a/></td><td style="font-weight:bold;">A GOTO-based concept for intuitive robot programming</td><td>Barth, Katharina and Henrich, Dominik</td><td>2012</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#fleury1994design" id="fleury1994design">fleury1994design<a/></td><td style="font-weight:bold;">Design of a modular architecture for autonomous robot</td><td>Fleury, Sara and Herrb, Matthieu and Chatila, Raja</td><td>1994</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kilgo2012visual" id="kilgo2012visual">kilgo2012visual<a/></td><td style="font-weight:bold;"><a href="http://rd.springer.com/chapter/10.1007%2F978-3-642-34327-8_14">A Visual Modeling Language for RDIS and ROS Nodes Using AToM3</a></td><td>Kilgo, Paul and Syriani, Eugene and Anderson, Monica</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kitagishi2002development" id="kitagishi2002development">kitagishi2002development<a/></td><td style="font-weight:bold;">Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networks</td><td>Kitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi</td><td>2002</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ljungkrantz2007implementing" id="ljungkrantz2007implementing">ljungkrantz2007implementing<a/></td><td style="font-weight:bold;">Implementing a control system framework for automatic generation of manufacturing cell controllers</td><td>Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin</td><td>2007</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nilas2004innovative" id="nilas2004innovative">nilas2004innovative<a/></td><td style="font-weight:bold;">An innovative high-level human-robot interaction for disabled persons</td><td>Nilas, Phongchai and Rani, Pramila and Sarkar, Nilanjan</td><td>2004</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#schneider2014declarative" id="schneider2014declarative">schneider2014declarative<a/></td><td style="font-weight:bold;">Declarative specification of task-based grasping with constraint validation</td><td>Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K</td><td>2014</td>
<td>ecore</td>
</tr>
</tbody></table><br />
<h3>Sensing and Estimation</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#fleury1994design" id="fleury1994design">fleury1994design<a/></td><td style="font-weight:bold;">Design of a modular architecture for autonomous robot</td><td>Fleury, Sara and Herrb, Matthieu and Chatila, Raja</td><td>1994</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#gordillo1991high" id="gordillo1991high">gordillo1991high<a/></td><td style="font-weight:bold;">LE: a high level language for specifying vision verification tasks</td><td>Gordillo, Jose L</td><td>1991</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#henderson1984logical" id="henderson1984logical">henderson1984logical<a/></td><td style="font-weight:bold;">Logical sensor systems</td><td>Henderson, Tom and Shilcrat, Esther</td><td>1984</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#hochgeschwender2014declarative" id="hochgeschwender2014declarative">hochgeschwender2014declarative<a/></td><td style="font-weight:bold;"><a href="http://dx.doi.org/10.1007/978-3-319-11900-7_25">Declarative Specification of Robot Perception Architectures</a></td><td>Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kilgo2012visual" id="kilgo2012visual">kilgo2012visual<a/></td><td style="font-weight:bold;"><a href="http://rd.springer.com/chapter/10.1007%2F978-3-642-34327-8_14">A Visual Modeling Language for RDIS and ROS Nodes Using AToM3</a></td><td>Kilgo, Paul and Syriani, Eugene and Anderson, Monica</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ljungkrantz2007implementing" id="ljungkrantz2007implementing">ljungkrantz2007implementing<a/></td><td style="font-weight:bold;">Implementing a control system framework for automatic generation of manufacturing cell controllers</td><td>Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin</td><td>2007</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nilas2004innovative" id="nilas2004innovative">nilas2004innovative<a/></td><td style="font-weight:bold;">An innovative high-level human-robot interaction for disabled persons</td><td>Nilas, Phongchai and Rani, Pramila and Sarkar, Nilanjan</td><td>2004</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramaswamy2014solution" id="ramaswamy2014solution">ramaswamy2014solution<a/></td><td style="font-weight:bold;">Solution space modeling for robotic systems</td><td>Ramaswamy, Arun Kumar and Monsuez, Bruno and Tapus, Adriana</td><td>2014</td>
<td>ecore</td>
</tr>
</tbody></table><br />
<h3>Motion Planning</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#dantam2011motion" id="dantam2011motion">dantam2011motion<a/></td><td style="font-weight:bold;">The motion grammar for physical human-robot games</td><td>Dantam, Neil and Koine, P and Stilman, Mike</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dantam2012linguistic" id="dantam2012linguistic">dantam2012linguistic<a/></td><td style="font-weight:bold;">Linguistic transfer of human assembly tasks to robots</td><td>Dantam, Neil and Essa, Irfan and Stilman, Mike</td><td>2012</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dantam2013correct" id="dantam2013correct">dantam2013correct<a/></td><td style="font-weight:bold;">Correct Software Synthesis for Stable Speed-Controlled Robotic Walking.</td><td>Dantam, Neil and Hereid, Ayonga and Ames, Aaron D and Stilman, Mike</td><td>2013</td>
<td>CFG?</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#feniello2014program" id="feniello2014program">feniello2014program<a/></td><td style="font-weight:bold;">Program synthesis by examples for object repositioning tasks</td><td>Feniello, Ashley and Dang, Hao and Birchfield, Stan</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#finucane2010ltlmop" id="finucane2010ltlmop">finucane2010ltlmop<a/></td><td style="font-weight:bold;">LTLMoP: Experimenting with language, temporal logic and robot control</td><td>Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas</td><td>2010</td>
<td>LTL</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#hsieh2007adaptive" id="hsieh2007adaptive">hsieh2007adaptive<a/></td><td style="font-weight:bold;">Adaptive teams of autonomous aerial and ground robots for situational awareness</td><td>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</td><td>2007</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kanayama2000s" id="kanayama2000s">kanayama2000s<a/></td><td style="font-weight:bold;">It s time to make mobile robots programmable</td><td>Kanayama, Yutaka J and Wu, C Thomas</td><td>2000</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kress2007structured" id="kress2007structured">kress2007structured<a/></td><td style="font-weight:bold;">From structured english to robot motion</td><td>Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J</td><td>2007</td>
<td>LTL</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#mackenzie1995specification" id="mackenzie1995specification">mackenzie1995specification<a/></td><td style="font-weight:bold;">Specification and execution of multiagent missions</td><td>MacKenzie, Douglas C and Cameron, Jonathan M and Arkin, Ronald C</td><td>1995</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#mosemann2001automatic" id="mosemann2001automatic">mosemann2001automatic<a/></td><td style="font-weight:bold;">Automatic decomposition of planned assembly sequences into skill primitives</td><td>Mosemann, Heiko and Wahl, Friedrich M</td><td>2001</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#rugg1994formal" id="rugg1994formal">rugg1994formal<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=351142">A formal semantics for multiple vehicle task and motion planning</a></td><td>Rugg-Gunn, Neil and Cameron, Stephen</td><td>1994</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#schneider2014declarative" id="schneider2014declarative">schneider2014declarative<a/></td><td style="font-weight:bold;">Declarative specification of task-based grasping with constraint validation</td><td>Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#zhang2003control" id="zhang2003control">zhang2003control<a/></td><td style="font-weight:bold;">Control of small formations using shape coordinates</td><td>Zhang, Fumin and Goldgeier, Michael and Krishnaprasad, Perinkulam S</td><td>2003</td>
<td>SDD</td>
</tr>
</tbody></table><br />
<h3>Motion Control</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#barth2012goto" id="barth2012goto">barth2012goto<a/></td><td style="font-weight:bold;">A GOTO-based concept for intuitive robot programming</td><td>Barth, Katharina and Henrich, Dominik</td><td>2012</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#buch2014applying" id="buch2014applying">buch2014applying<a/></td><td style="font-weight:bold;">Applying Simulation and a Domain-Specific Language for an Adaptive Action Library</td><td>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</td><td>2014</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#burbidge2009grammatical" id="burbidge2009grammatical">burbidge2009grammatical<a/></td><td style="font-weight:bold;">Grammatical evolution of a robot controller</td><td>Burbidge, Robert and Walker, Joanne H and Wilson, Myra S</td><td>2009</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dantam2013correct" id="dantam2013correct">dantam2013correct<a/></td><td style="font-weight:bold;">Correct Software Synthesis for Stable Speed-Controlled Robotic Walking.</td><td>Dantam, Neil and Hereid, Ayonga and Ames, Aaron D and Stilman, Mike</td><td>2013</td>
<td>CFG?</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#fayman1999av" id="fayman1999av">fayman1999av<a/></td><td style="font-weight:bold;">AV-shell, an environment for autonomous robotic applications using active vision</td><td>Fayman, Jeffrey A and Rivlin, Ehud and Christensen, Henrik I</td><td>1999</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#finucane2010ltlmop" id="finucane2010ltlmop">finucane2010ltlmop<a/></td><td style="font-weight:bold;">LTLMoP: Experimenting with language, temporal logic and robot control</td><td>Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas</td><td>2010</td>
<td>LTL</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#graves1999distributed" id="graves1999distributed">graves1999distributed<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=770434">Distributed generic control for multiple types of telerobot</a></td><td>Graves, Alan R and Czarnecki, Chris</td><td>1999</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kanayama2000s" id="kanayama2000s">kanayama2000s<a/></td><td style="font-weight:bold;">It s time to make mobile robots programmable</td><td>Kanayama, Yutaka J and Wu, C Thomas</td><td>2000</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kim2003task" id="kim2003task">kim2003task<a/></td><td style="font-weight:bold;">Task description language for underwater robots</td><td>Kim, Tae Won and Yuh, Junku</td><td>2003</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kitagishi2002development" id="kitagishi2002development">kitagishi2002development<a/></td><td style="font-weight:bold;">Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networks</td><td>Kitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi</td><td>2002</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#klotzbucher2011reusable" id="klotzbucher2011reusable">klotzbucher2011reusable<a/></td><td style="font-weight:bold;">Reusable hybrid force-velocity controlled motion specifications with executable domain specific languages</td><td>Klotzbucher, M and Smits, Ruben and Bruyninckx, Herman and De Schutter, Joris</td><td>2011</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kress2007structured" id="kress2007structured">kress2007structured<a/></td><td style="font-weight:bold;">From structured english to robot motion</td><td>Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J</td><td>2007</td>
<td>LTL</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#manikonda1995motion" id="manikonda1995motion">manikonda1995motion<a/></td><td style="font-weight:bold;">A motion description language and a hybrid architecture for motion planning with nonholonomic robots</td><td>Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James</td><td>1995</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#morelli2014control" id="morelli2014control">morelli2014control<a/></td><td style="font-weight:bold;">Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach</td><td>Morelli, Matteo and Di Natale, Marco</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nishiyama1998logic" id="nishiyama1998logic">nishiyama1998logic<a/></td><td style="font-weight:bold;">Logic specifications for multiple robots based on a current programming language</td><td>Nishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio</td><td>1998</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nordmann2015modeling" id="nordmann2015modeling">nordmann2015modeling<a/></td><td style="font-weight:bold;"><a href="https://pub.uni-bielefeld.de/download/2717042/2753034">Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages</a></td><td>Arne Nordmann and Sebastian Wrede and Jochen J. Steil</td><td>2015</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramadorai1994generic" id="ramadorai1994generic">ramadorai1994generic<a/></td><td style="font-weight:bold;">A generic kinematics software package</td><td>Ramadorai, Arvind K and Ganapathy, U and Guida, F</td><td>1994</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#thomas2013new" id="thomas2013new">thomas2013new<a/></td><td style="font-weight:bold;"><a href="http://www.se-rwth.de/publications/A-New-Skill-Based-Robot-Programming-Language-Using-UML-P-Statecharts.pdf">A New Skill Based Robot Programming Language Using UML/P Statecharts</a></td><td>Thomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas</td><td>2013</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#utz2005hierarchical" id="utz2005hierarchical">utz2005hierarchical<a/></td><td style="font-weight:bold;">Hierarchical behavior organization</td><td>Utz, Hans and Kraetzschmar, Gerhard and Mayer, Gerd and Palm, G\ unther</td><td>2005</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#vanthienen2013rapid" id="vanthienen2013rapid">vanthienen2013rapid<a/></td><td style="font-weight:bold;">Rapid application development of constrained-based task modelling and execution using domain specific languages</td><td>Vanthienen, Dominick and Klotzbuucher, M and De Schutter, Joris and De Laet, Tinne and Bruyninckx, Herman</td><td>2013</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#zhang2003control" id="zhang2003control">zhang2003control<a/></td><td style="font-weight:bold;">Control of small formations using shape coordinates</td><td>Zhang, Fumin and Goldgeier, Michael and Krishnaprasad, Perinkulam S</td><td>2003</td>
<td>SDD</td>
</tr>
</tbody></table><br />
<h3>Force Control</h3>
<p>Force Control pertains to the achievement of a robust and dynamic behavior of robotic systems in compliant interaction between robot and environment.
Similar to the Motion Control category, it includes different control aspects,
e.g., stiffness and impedance control.
This subdomain corresponds to Part A, Chapter 7 in the Handbook of Robotics.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#klotzbucher2011reusable" id="klotzbucher2011reusable">klotzbucher2011reusable<a/></td><td style="font-weight:bold;">Reusable hybrid force-velocity controlled motion specifications with executable domain specific languages</td><td>Klotzbucher, M and Smits, Ruben and Bruyninckx, Herman and De Schutter, Joris</td><td>2011</td>
<td>unknown</td>
</tr>
</tbody></table><br />
<h3>Architectures and Programming</h3>
<p>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.
<br />Due to its large number of entries, the Architectures and Programming subdomain is further subdivided into its disciplines, see <a href="architectures-and-programming-disciplines.html">Architectures and Programming Disciplines</a>.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#abdellatif2012rigorous" id="abdellatif2012rigorous">abdellatif2012rigorous<a/></td><td style="font-weight:bold;">Rigorous design of robot software: A formal component-based approach</td><td>Abdellatif, Tesnim and Bensalem, Saddek and Combaz, Jacques and De Silva, Lavindra and Ingrand, Felix</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#adam2014towards" id="adam2014towards">adam2014towards<a/></td><td style="font-weight:bold;">Towards rule-based dynamic safety monitoring for mobile robots</td><td>Adam, Sorin and Larsen, Morten and Jensen, Kjeld and Schultz, Ulrik Pagh</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#aertbelien2014etasl" id="aertbelien2014etasl">aertbelien2014etasl<a/></td><td style="font-weight:bold;">eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs</td><td>Aertbeli\ en, Erwin and De Schutter, Joris</td><td>2014</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#aggarwal1994specification" id="aggarwal1994specification">aggarwal1994specification<a/></td><td style="font-weight:bold;">Specification and automated implementation of coordination protocols in distributed controls for flexible manufacturing cells</td><td>Aggarwal, Sudhir and Mitra, Sandeep and Jagdale, Sanjay S</td><td>1994</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#alonso2010v3cmm" id="alonso2010v3cmm">alonso2010v3cmm<a/></td><td style="font-weight:bold;">V3cmm: A 3-view component meta-model for model-driven robotic software development</td><td>Alonso, Diego and Vicente-Chicote, Cristina and Ortiz, Francisco and Pastor, Juan and Alvarez, Barbara</td><td>2010</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#anderson2012rdis" id="anderson2012rdis">anderson2012rdis<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6225197">RDIS: Generalizing Domain Concepts to Specify Device to Framework Mappings</a></td><td>Anderson, Monica and Bowman, Jason and Kilgo, Paul</td><td>2012</td>
<td>ANTLR grammar</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#barth2012goto" id="barth2012goto">barth2012goto<a/></td><td style="font-weight:bold;">A GOTO-based concept for intuitive robot programming</td><td>Barth, Katharina and Henrich, Dominik</td><td>2012</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#berenz2014targets" id="berenz2014targets">berenz2014targets<a/></td><td style="font-weight:bold;">Targets-Drives-Means: A declarative approach to dynamic behavior specification with higher usability</td><td>Berenz, Vincent and Suzuki, Kenji</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#biggs2006specifying" id="biggs2006specifying">biggs2006specifying<a/></td><td style="font-weight:bold;">Specifying robot reactivity in procedural languages</td><td>Biggs, Geoffrey and MacDonald, Bruce A</td><td>2006</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#biggs2008evaluating" id="biggs2008evaluating">biggs2008evaluating<a/></td><td style="font-weight:bold;">Evaluating a reactive semantics for robotics</td><td>Biggs, Geoffrey and MacDonald, Bruce A</td><td>2008</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#bordignon2011generalized" id="bordignon2011generalized">bordignon2011generalized<a/></td><td style="font-weight:bold;">Generalized programming of modular robots through kinematic configurations</td><td>Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#bouzouia1998three" id="bouzouia1998three">bouzouia1998three<a/></td><td style="font-weight:bold;">A three-layer workcell control architecture design</td><td>Bouzouia, Brahim and Guerroumi, Fawzi and Boukhezar, Abdelmalek</td><td>1998</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#braberman2013controller" id="braberman2013controller">braberman2013controller<a/></td><td style="font-weight:bold;">Controller synthesis: From modelling to enactment</td><td>Braberman, V\ \ictor and D Ippolito, Nicolas and Piterman, Nir and Sykes, Daniel and Uchitel, Sebastian</td><td>2013</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#buch2014applying" id="buch2014applying">buch2014applying<a/></td><td style="font-weight:bold;">Applying Simulation and a Domain-Specific Language for an Adaptive Action Library</td><td>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</td><td>2014</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#burbidge2009grammatical" id="burbidge2009grammatical">burbidge2009grammatical<a/></td><td style="font-weight:bold;">Grammatical evolution of a robot controller</td><td>Burbidge, Robert and Walker, Joanne H and Wilson, Myra S</td><td>2009</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#causse1993man" id="causse1993man">causse1993man<a/></td><td style="font-weight:bold;">A man machine interface for a mobile robot</td><td>Causse, Olivier and Crowley, James L</td><td>1993</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#chaki2014model" id="chaki2014model">chaki2014model<a/></td><td style="font-weight:bold;">Model-Driven Verifying Compilation of Synchronous Distributed Applications</td><td>Chaki, Sagar and Edmondson, James</td><td>2014</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#coste1997maestro" id="coste1997maestro">coste1997maestro<a/></td><td style="font-weight:bold;">The maestro language and its environment: Specification, validation and control of robotic missions</td><td>Coste-Maniere, Eve and Turro, Nicolas</td><td>1997</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dai2002specifying" id="dai2002specifying">dai2002specifying<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1013354">Specifying behavior in C++</a></td><td>Dai, Xiangtian and Hager, Gregory and Peterson, John</td><td>2002</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dantam2011motion" id="dantam2011motion">dantam2011motion<a/></td><td style="font-weight:bold;">The motion grammar for physical human-robot games</td><td>Dantam, Neil and Koine, P and Stilman, Mike</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dantam2012linguistic" id="dantam2012linguistic">dantam2012linguistic<a/></td><td style="font-weight:bold;">Linguistic transfer of human assembly tasks to robots</td><td>Dantam, Neil and Essa, Irfan and Stilman, Mike</td><td>2012</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#datta2012robostudio" id="datta2012robostudio">datta2012robostudio<a/></td><td style="font-weight:bold;">Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robot</td><td>Datta, Chandan and Jayawardena, Chandimal and Kuo, I Han and MacDonald, Bruce A</td><td>2012</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#de2007distributed" id="de2007distributed">de2007distributed<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=4209667">Distributed watchpoints: Debugging large multi-robot systems</a></td><td>De Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T</td><td>2007</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#de2012scripting" id="de2012scripting">de2012scripting<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6225038">A Scripting-Based Approach to Robot Behavior Engineering using Hierarchical Generators</a></td><td>de Haas, Thijs Jeffry and Laue, Tim and Rofer, T</td><td>2012</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dhouib2012robotml" id="dhouib2012robotml">dhouib2012robotml<a/></td><td style="font-weight:bold;">Robotml, a domain-specific language to design, simulate and deploy robotic applications</td><td>Dhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal</td><td>2012</td>
<td>UML/MOF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dittes2011intelligent" id="dittes2011intelligent">dittes2011intelligent<a/></td><td style="font-weight:bold;">Intelligent system architectures-comparison by translation</td><td>Dittes, Benjamin and Goerick, Christian</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#dittes2011language" id="dittes2011language">dittes2011language<a/></td><td style="font-weight:bold;">A language for formal design of embedded intelligence research systems</td><td>Dittes, Benjamin and Goerick, Christian</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#fayman1999av" id="fayman1999av">fayman1999av<a/></td><td style="font-weight:bold;">AV-shell, an environment for autonomous robotic applications using active vision</td><td>Fayman, Jeffrey A and Rivlin, Ehud and Christensen, Henrik I</td><td>1999</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#feniello2014program" id="feniello2014program">feniello2014program<a/></td><td style="font-weight:bold;">Program synthesis by examples for object repositioning tasks</td><td>Feniello, Ashley and Dang, Hao and Birchfield, Stan</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#finucane2010ltlmop" id="finucane2010ltlmop">finucane2010ltlmop<a/></td><td style="font-weight:bold;">LTLMoP: Experimenting with language, temporal logic and robot control</td><td>Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas</td><td>2010</td>
<td>LTL</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#fleurey2009domain" id="fleurey2009domain">fleurey2009domain<a/></td><td style="font-weight:bold;">A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systems</td><td>Fleurey, Franck and Solberg, Arnor</td><td>2009</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#fleury1994design" id="fleury1994design">fleury1994design<a/></td><td style="font-weight:bold;">Design of a modular architecture for autonomous robot</td><td>Fleury, Sara and Herrb, Matthieu and Chatila, Raja</td><td>1994</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#fleury1997g" id="fleury1997g">fleury1997g<a/></td><td style="font-weight:bold;">GenoM: A Tool for the Specification and the Implementation of Operating Modules in a Distributed Robot Architecture</td><td>Fleury, Sara and Herrb, Matthieu and Chatila, Raja</td><td>1997</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#freund2001state" id="freund2001state">freund2001state<a/></td><td style="font-weight:bold;">State oriented modeling as enabling technology for projective virtual reality</td><td>Freund, Eckhard and Schluse, Michael and Rossmann, J\ urgen</td><td>2001</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#gat1991alfa" id="gat1991alfa">gat1991alfa<a/></td><td style="font-weight:bold;">Alfa: A language for programming reactive robotic control systems</td><td>Gat, Erann</td><td>1991</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#gherardi2014modeling" id="gherardi2014modeling">gherardi2014modeling<a/></td><td style="font-weight:bold;">Modeling and reusing robotic software architectures: the hyperflex toolchain</td><td>Gherardi, Luca and Brugali, Davide</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#gobillot2014modeling" id="gobillot2014modeling">gobillot2014modeling<a/></td><td style="font-weight:bold;">A Modeling Framework for Software Architecture Specification and Validation</td><td>Gobillot, Nicolas and Lesire, Charles and Doose, David</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#gordillo1991high" id="gordillo1991high">gordillo1991high<a/></td><td style="font-weight:bold;">LE: a high level language for specifying vision verification tasks</td><td>Gordillo, Jose L</td><td>1991</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#graves1999distributed" id="graves1999distributed">graves1999distributed<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=770434">Distributed generic control for multiple types of telerobot</a></td><td>Graves, Alan R and Czarnecki, Chris</td><td>1999</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#henderson1984logical" id="henderson1984logical">henderson1984logical<a/></td><td style="font-weight:bold;">Logical sensor systems</td><td>Henderson, Tom and Shilcrat, Esther</td><td>1984</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#hochgeschwender2013model" id="hochgeschwender2013model">hochgeschwender2013model<a/></td><td style="font-weight:bold;">A model-based approach to software deployment in robotics</td><td>Hochgeschwender, Nico and Gherardi, Luca and Shakhirmardanov, Azamat and Kraetzschmar, Gerhard K and Brugali, Davide and Bruyninckx, Herman</td><td>2013</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#hochgeschwender2014declarative" id="hochgeschwender2014declarative">hochgeschwender2014declarative<a/></td><td style="font-weight:bold;"><a href="http://dx.doi.org/10.1007/978-3-319-11900-7_25">Declarative Specification of Robot Perception Architectures</a></td><td>Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#hongxing2009component" id="hongxing2009component">hongxing2009component<a/></td><td style="font-weight:bold;">A component based design framework for robot software architecture</td><td>Hongxing, Wei and Xinming, Duan and Shiyi, Li and Guofeng, Tong and Tianmiao, Wang</td><td>2009</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#horswill2000functional" id="horswill2000functional">horswill2000functional<a/></td><td style="font-weight:bold;">Functional programming of behavior-based systems</td><td>Horswill, Ian Douglas</td><td>2000</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#hsieh2007adaptive" id="hsieh2007adaptive">hsieh2007adaptive<a/></td><td style="font-weight:bold;">Adaptive teams of autonomous aerial and ground robots for situational awareness</td><td>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</td><td>2007</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ingrand2002execution" id="ingrand2002execution">ingrand2002execution<a/></td><td style="font-weight:bold;">An execution control system for autonomous robots</td><td>Ingrand, F\ elix and Py, Frederic</td><td>2002</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ingrand2007decisional" id="ingrand2007decisional">ingrand2007decisional<a/></td><td style="font-weight:bold;">Decisional autonomy of planetary rovers</td><td>Ingrand, F\ elix and Lacroix, Simon and Lemai-Chenevier, Solange and Py, Frederic</td><td>2007</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#joyeux2010managing" id="joyeux2010managing">joyeux2010managing<a/></td><td style="font-weight:bold;">Managing plans: Integrating deliberation and reactive execution schemes</td><td>Joyeux, Sylvain and Kirchner, Frank and Lacroix, Simon</td><td>2010</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kim2003task" id="kim2003task">kim2003task<a/></td><td style="font-weight:bold;">Task description language for underwater robots</td><td>Kim, Tae Won and Yuh, Junku</td><td>2003</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kovsecka1997experiments" id="kovsecka1997experiments">kovsecka1997experiments<a/></td><td style="font-weight:bold;">Experiments in behavior composition</td><td>Ko\vseck\ a, Jan</td><td>1997</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kress2007structured" id="kress2007structured">kress2007structured<a/></td><td style="font-weight:bold;">From structured english to robot motion</td><td>Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J</td><td>2007</td>
<td>LTL</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kubica2002creating" id="kubica2002creating">kubica2002creating<a/></td><td style="font-weight:bold;">Creating a smarter membrane: Automatic code generation for modular self-reconfigurable robots</td><td>Kubica, Jeremy and Rieffel, Eleanor</td><td>2002</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kulakowski2012modeling" id="kulakowski2012modeling">kulakowski2012modeling<a/></td><td style="font-weight:bold;">Modeling robot behavior with CCL</td><td>Ku\lakowski, Konrad and Szmuc, Tomasz</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kunze2011towards" id="kunze2011towards">kunze2011towards<a/></td><td style="font-weight:bold;">Towards semantic robot description languages</td><td>Kunze, Lars and Roehm, Tobias and Beetz, Michael</td><td>2011</td>
<td>OWL</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#lesire2012mauve" id="lesire2012mauve">lesire2012mauve<a/></td><td style="font-weight:bold;">Mauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications.</td><td>Lesire, Charles and Doose, David and Cass\ e, Hug</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ljungkrantz2007implementing" id="ljungkrantz2007implementing">ljungkrantz2007implementing<a/></td><td style="font-weight:bold;">Implementing a control system framework for automatic generation of manufacturing cell controllers</td><td>Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin</td><td>2007</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#loetzsch2006xabsl" id="loetzsch2006xabsl">loetzsch2006xabsl<a/></td><td style="font-weight:bold;">XABSL-a pragmatic approach to behavior engineering</td><td>Loetzsch, Martin and Risler, Max and Jungel, Matthias</td><td>2006</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#lyons2013getting" id="lyons2013getting">lyons2013getting<a/></td><td style="font-weight:bold;">Getting it right the first time: Robot mission guarantees in the presence of uncertainty</td><td>Lyons, Damian M and Arkin, Ronald C and Nirmal, Paramesh and Liu, T-M and Deeb, J and others</td><td>2013</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#mackenzie1995specification" id="mackenzie1995specification">mackenzie1995specification<a/></td><td style="font-weight:bold;">Specification and execution of multiagent missions</td><td>MacKenzie, Douglas C and Cameron, Jonathan M and Arkin, Ronald C</td><td>1995</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#maenpaa2004distributed" id="maenpaa2004distributed">maenpaa2004distributed<a/></td><td style="font-weight:bold;">A distributed architecture for executing complex tasks with multiple robots</td><td>Maenpaa, Topi and Tikanmaki, Antti and Riekki, Jukka and Roning, Juha</td><td>2004</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#mallet2002specification" id="mallet2002specification">mallet2002specification<a/></td><td style="font-weight:bold;">A specification of generic robotics software components: future evolutions of G en o M in the Orocos context</td><td>Mallet, Anthony and Fleury, Sara and Bruyninckx, Herman</td><td>2002</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#mallet2010genom3" id="mallet2010genom3">mallet2010genom3<a/></td><td style="font-weight:bold;">GenoM3: Building middleware-independent robotic components</td><td>Mallet, Anthony and Pasteur, C\ edric and Herrb, Matthieu and Lemaignan, S\ everin and Ingrand, F\ elix</td><td>2010</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#menga1991framework" id="menga1991framework">menga1991framework<a/></td><td style="font-weight:bold;">A framework for object oriented design and prototyping of manufacturing systems</td><td>Menga, G and Morisio, M and Mancin, M</td><td>1991</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#morelli2014control" id="morelli2014control">morelli2014control<a/></td><td style="font-weight:bold;">Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach</td><td>Morelli, Matteo and Di Natale, Marco</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#mosemann2001automatic" id="mosemann2001automatic">mosemann2001automatic<a/></td><td style="font-weight:bold;">Automatic decomposition of planned assembly sequences into skill primitives</td><td>Mosemann, Heiko and Wahl, Friedrich M</td><td>2001</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nishiyama1998logic" id="nishiyama1998logic">nishiyama1998logic<a/></td><td style="font-weight:bold;">Logic specifications for multiple robots based on a current programming language</td><td>Nishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio</td><td>1998</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nordmann2015modeling" id="nordmann2015modeling">nordmann2015modeling<a/></td><td style="font-weight:bold;"><a href="https://pub.uni-bielefeld.de/download/2717042/2753034">Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages</a></td><td>Arne Nordmann and Sebastian Wrede and Jochen J. Steil</td><td>2015</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#noreils1995plan" id="noreils1995plan">noreils1995plan<a/></td><td style="font-weight:bold;">Plan execution monitoring and control architecture for mobile robots</td><td>Noreils, Fabrice R and Chatila, Raja G</td><td>1995</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#o2014automatic" id="o2014automatic">o2014automatic<a/></td><td style="font-weight:bold;">Automatic Verification of Autonomous Robot Missions</td><td>O’Brien, Matthew and Arkin, Ronald C and Harrington, Dagan and Lyons, Damian and Jiang, Shu</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ortiz2014component" id="ortiz2014component">ortiz2014component<a/></td><td style="font-weight:bold;">A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-Forge</td><td>Ortiz, Francisco J and Alonso, Diego and Rosique, Francisca and S\ anchez-Ledesma, Francisco and Pastor, Juan A</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#pembeci2003functional" id="pembeci2003functional">pembeci2003functional<a/></td><td style="font-weight:bold;">Functional reactive programming as a hybrid system framework</td><td>Pembeci, Izzet and Hager, Gregory</td><td>2003</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#peterson1999language" id="peterson1999language">peterson1999language<a/></td><td style="font-weight:bold;">A language for declarative robotic programming</td><td>Peterson, John and Hager, Gregory D and Hudak, Paul</td><td>1999</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#raman2013explaining" id="raman2013explaining">raman2013explaining<a/></td><td style="font-weight:bold;">Explaining impossible high-level robot behaviors</td><td>Raman, Vasumathi and Kress-Gazit, Hadas</td><td>2013</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramaswamy2014saferobots" id="ramaswamy2014saferobots">ramaswamy2014saferobots<a/></td><td style="font-weight:bold;">SafeRobots: A model-driven Framework for developing Robotic Systems</td><td>Ramaswamy, Anand and Monsuez, Bruno and Tapus, Adriana</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramaswamy2014solution" id="ramaswamy2014solution">ramaswamy2014solution<a/></td><td style="font-weight:bold;">Solution space modeling for robotic systems</td><td>Ramaswamy, Arun Kumar and Monsuez, Bruno and Tapus, Adriana</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramirez2011automatic" id="ramirez2011automatic">ramirez2011automatic<a/></td><td style="font-weight:bold;">Automatic derivation of utility functions for monitoring software requirements</td><td>Ramirez, Andres J and Cheng, Betty HC</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#rugg1994formal" id="rugg1994formal">rugg1994formal<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=351142">A formal semantics for multiple vehicle task and motion planning</a></td><td>Rugg-Gunn, Neil and Cameron, Stephen</td><td>1994</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#rusakov2014simple" id="rusakov2014simple">rusakov2014simple<a/></td><td style="font-weight:bold;">Simple concurrency for robotics with the Roboscoop framework</td><td>Rusakov, Andrey and Shin, Jiwon and Meyer, Bertrand</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#schlegel2010design" id="schlegel2010design">schlegel2010design<a/></td><td style="font-weight:bold;">Design abstraction and processes in robotics: From code-driven to model-driven engineering</td><td>Schlegel, Christian and Steck, Andreas and Brugali, Davide and Knoll, Alois</td><td>2010</td>
<td>UML/MOF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#simmons1998task" id="simmons1998task">simmons1998task<a/></td><td style="font-weight:bold;">A task description language for robot control</td><td>Simmons, Reid and Apfelbaum, David</td><td>1998</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#steck2011managing" id="steck2011managing">steck2011managing<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6094732">Managing execution variants in task coordination by exploiting design-time models at run-time</a></td><td>Steck, Andreas and Schlegel, Christian</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#sun2012model" id="sun2012model">sun2012model<a/></td><td style="font-weight:bold;">A model-driven approach to support engineering changes in industrial robotics software</td><td>Sun, Yu and Gray, Jeff and Bulheller, Karlheinz and von Baillou, Nicolaus</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#thomas2013new" id="thomas2013new">thomas2013new<a/></td><td style="font-weight:bold;"><a href="http://www.se-rwth.de/publications/A-New-Skill-Based-Robot-Programming-Language-Using-UML-P-Statecharts.pdf">A New Skill Based Robot Programming Language Using UML/P Statecharts</a></td><td>Thomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas</td><td>2013</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#tousignant2011overview" id="tousignant2011overview">tousignant2011overview<a/></td><td style="font-weight:bold;">An overview of XRobots: A hierarchical state machine based language</td><td>Tousignant, Steve and Van Wyk, Eric and Gini, Maria</td><td>2011</td>
<td>silver</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#tousignant2012xrobots" id="tousignant2012xrobots">tousignant2012xrobots<a/></td><td style="font-weight:bold;">XRobots: A flexible language for programming mobile robots based on hierarchical state machines</td><td>Tousignant, Steve and Van Wyk, Eric and Gini, Maria</td><td>2012</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#utz2005hierarchical" id="utz2005hierarchical">utz2005hierarchical<a/></td><td style="font-weight:bold;">Hierarchical behavior organization</td><td>Utz, Hans and Kraetzschmar, Gerhard and Mayer, Gerd and Palm, G\ unther</td><td>2005</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#wang2001reconfigurable" id="wang2001reconfigurable">wang2001reconfigurable<a/></td><td style="font-weight:bold;">Reconfigurable software for open architecture controllers</td><td>Wang, Shige and Shin, Kang G</td><td>2001</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#woithe2009programming" id="woithe2009programming">woithe2009programming<a/></td><td style="font-weight:bold;">A programming architecture for smart autonomous underwater vehicles</td><td>Woithe, Hans C and Kremer, Ulrich</td><td>2009</td>
<td>other</td>
</tr>
</tbody></table><br />
<h3>Reasoning Methods</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#dantam2012linguistic" id="dantam2012linguistic">dantam2012linguistic<a/></td><td style="font-weight:bold;">Linguistic transfer of human assembly tasks to robots</td><td>Dantam, Neil and Essa, Irfan and Stilman, Mike</td><td>2012</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#de2007distributed" id="de2007distributed">de2007distributed<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=4209667">Distributed watchpoints: Debugging large multi-robot systems</a></td><td>De Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T</td><td>2007</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#feniello2014program" id="feniello2014program">feniello2014program<a/></td><td style="font-weight:bold;">Program synthesis by examples for object repositioning tasks</td><td>Feniello, Ashley and Dang, Hao and Birchfield, Stan</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#gobillot2014modeling" id="gobillot2014modeling">gobillot2014modeling<a/></td><td style="font-weight:bold;">A Modeling Framework for Software Architecture Specification and Validation</td><td>Gobillot, Nicolas and Lesire, Charles and Doose, David</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#gordillo1991high" id="gordillo1991high">gordillo1991high<a/></td><td style="font-weight:bold;">LE: a high level language for specifying vision verification tasks</td><td>Gordillo, Jose L</td><td>1991</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#hochgeschwender2014declarative" id="hochgeschwender2014declarative">hochgeschwender2014declarative<a/></td><td style="font-weight:bold;"><a href="http://dx.doi.org/10.1007/978-3-319-11900-7_25">Declarative Specification of Robot Perception Architectures</a></td><td>Hochgeschwender, Nico and Schneider, Sven and Voos, Holger and Kraetzschmar, Gerhard K</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#horswill2000functional" id="horswill2000functional">horswill2000functional<a/></td><td style="font-weight:bold;">Functional programming of behavior-based systems</td><td>Horswill, Ian Douglas</td><td>2000</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#joyeux2010managing" id="joyeux2010managing">joyeux2010managing<a/></td><td style="font-weight:bold;">Managing plans: Integrating deliberation and reactive execution schemes</td><td>Joyeux, Sylvain and Kirchner, Frank and Lacroix, Simon</td><td>2010</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kunze2011towards" id="kunze2011towards">kunze2011towards<a/></td><td style="font-weight:bold;">Towards semantic robot description languages</td><td>Kunze, Lars and Roehm, Tobias and Beetz, Michael</td><td>2011</td>
<td>OWL</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#noreils1995plan" id="noreils1995plan">noreils1995plan<a/></td><td style="font-weight:bold;">Plan execution monitoring and control architecture for mobile robots</td><td>Noreils, Fabrice R and Chatila, Raja G</td><td>1995</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#o2014automatic" id="o2014automatic">o2014automatic<a/></td><td style="font-weight:bold;">Automatic Verification of Autonomous Robot Missions</td><td>O’Brien, Matthew and Arkin, Ronald C and Harrington, Dagan and Lyons, Damian and Jiang, Shu</td><td>2014</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#raman2013explaining" id="raman2013explaining">raman2013explaining<a/></td><td style="font-weight:bold;">Explaining impossible high-level robot behaviors</td><td>Raman, Vasumathi and Kress-Gazit, Hadas</td><td>2013</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#steck2011managing" id="steck2011managing">steck2011managing<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6094732">Managing execution variants in task coordination by exploiting design-time models at run-time</a></td><td>Steck, Andreas and Schlegel, Christian</td><td>2011</td>
<td></td>
</tr>
</tbody></table><br />
</div>
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<br />
<hr />
<p style="font-size:85%; color:#555;">An important DSL is missing? Here is how to <a href="./contribute.html">contribute</a>! When using content of the Robotics DSL Zoo or referring to it, pleace consider citing our survey paper:
<pre>
@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},
}
</pre>
<br />
<a style="font-size:85%; color:#555;" title="A Survey on Domain-Specific Modeling and Languages in Robotics" href="http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=100">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</a>
</p>
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