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<h1>Robotics DSL Zoo</h1>
<h2>Subdomain „Reasoning Methods“</h2>
<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>
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<div id="chart_div_year" style="width: 550px; height: 200px; float:left;"></div><h3>Scenario Building</h3>
<p>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.</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="#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="#raman2012avoiding" id="raman2012avoiding">raman2012avoiding<a/></td><td style="font-weight:bold;">Avoiding forgetfulness: Structured English specifications for high-level robot control with implicit memory</td><td>Raman, Vasumathi and Xu, Bingxin and Kress-Gazit, Hadas</td><td>2012</td>
<td>LTL</td>
</tr>
</tbody></table><br />
<h3>Functional Design</h3>
<p>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.</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="#bocionek1990generating" id="bocionek1990generating">bocionek1990generating<a/></td><td style="font-weight:bold;">Generating expert systems for configuration tasks</td><td>Bocionek, S and Buchka, P and Schweiger, J</td><td>1990</td>
<td></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="#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="#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="#roehr2014reconfigurable" id="roehr2014reconfigurable">roehr2014reconfigurable<a/></td><td style="font-weight:bold;">Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration</td><td>Roehr, Thomas M and Cordes, Florian and Kirchner, Frank</td><td>2014</td>
<td></td>
</tr>
</tbody></table><br />
<h3>Platform Building</h3>
<p>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.</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="#bocionek1990generating" id="bocionek1990generating">bocionek1990generating<a/></td><td style="font-weight:bold;">Generating expert systems for configuration tasks</td><td>Bocionek, S and Buchka, P and Schweiger, J</td><td>1990</td>
<td></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="#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="#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="#roehr2014reconfigurable" id="roehr2014reconfigurable">roehr2014reconfigurable<a/></td><td style="font-weight:bold;">Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration</td><td>Roehr, Thomas M and Cordes, Florian and Kirchner, Frank</td><td>2014</td>
<td></td>
</tr>
</tbody></table><br />
<h3>Capability Building</h3>
<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>
<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 />
<h3>System Deployment</h3>
<p>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.</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="#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>
</tbody></table><br />
<h3>System Benchmarking</h3>
<p>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.</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="#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>
</tbody></table><br />
<h3>Product Maintenance</h3>
<p>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.</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="#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="#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>
</tbody></table><br />
</div>
</div>
<div class="container">
<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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