Control and Handling of Events
Organization of data and control flow as well as handling of reactive and temporal events. This discipline corresponds to the Section 2.2.2 in the SWEBOK.
55 publications
- 1985
- 1990
- 1995
- 2000
- 2005
- 2010
- 2015
Scenario Building
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 | Tool |
|---|---|---|---|---|---|
| Detzner2019Novel | A Novel Task Language for Natural Interaction in Human-Robot Systems for Warehouse Logistics2019 14th International Conference on Computer Science Education (ICCSE) | Peter Detzner, Thomas Kirks, Jana Jost | 2019 | ANTLR | custom (python-based) |
| garcia2019high | High-level mission specification for multiple robotsProceedings of the 12th ACM SIGPLAN International Conference on Software Language Engineering websitedownload | Sergio García, Patrizio Pelliccione, Claudio Menghi, Thorsten Berger, Tomas Bures | 2019 | 'EMF Xtext', 'EMF Sirius', 'EMF Xtend') | |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| knoop2007automatic | Automatic robot programming from learned abstract task knowledgeIntelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on | Steffen Knoop, Michael Pardowitz, Rüdiger Dillmann | 2007 | unknown | |
| menghi2019Specification | Specification Patterns for Robotic MissionsTransactions on Software Engineering websitedownload | C. Menghi, C. Tsigkanos, P. Pelliccione, C. Ghezzi, T. Berger | 2019 | LTL/CTL |
Functional Design
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 | Tool |
|---|---|---|---|---|---|
| coste1997maestro | The maestro language and its environment: Specification, validation and control of robotic missionsIntelligent Robots and Systems, 1997. IROS'97., Proceedings of the 1997 IEEE/RSJ International Conference on | Eve Coste-Maniere, Nicolas Turro | 1997 | unknown | unknown |
| Detzner2019Novel | A Novel Task Language for Natural Interaction in Human-Robot Systems for Warehouse Logistics2019 14th International Conference on Computer Science Education (ICCSE) | Peter Detzner, Thomas Kirks, Jana Jost | 2019 | ANTLR | custom (python-based) |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applicationsSimulation, Modeling, and Programming for Autonomous Robots | Saadia Dhouib, Selma Kchir, Serge Stinckwich, Tewfik Ziadi, Mikal Ziane | 2012 | UML/MOF | GMF |
| fleurey2009domain | A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systemsModel Driven Engineering Languages and Systems | Franck Fleurey, Arnor Solberg | 2009 | ecore | GMF |
| gordillo1991high | LE: a high level language for specifying vision verification tasksRobotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on | Jose L Gordillo | 1991 | unknown | unknown |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| kang20053d | 3d virtual prototyping of home service robots using asadal/objRobotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on | Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, Seokwon Bang | 2005 | unknown | ASADAL/OBJ |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific LanguagesInternational Conference on Robotics and Automation (ICRA) | Arne Nordmann, Sebastian Wrede, Jochen J. Steil | 2015 | MPS | |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-ForgeSimulation, Modeling, and Programming for Autonomous Robots | Francisco J Ortiz, Diego Alonso, Francisca Rosique, Francisco Sánchez-Ledesma, Juan A Pastor | 2014 | unknown | EMF/GMF |
| ramirez2011automatic | Automatic derivation of utility functions for monitoring software requirementsModel Driven Engineering Languages and Systems | Andres J Ramirez, Betty HC Cheng | 2011 | unknown | |
| thomas2013new | A New Skill Based Robot Programming Language Using UML/P StatechartsRobotics and Automation (ICRA), 2013 IEEE International Conference on | Ulrike Thomas, Gerd Hirzinger, Bernhard Rumpe, Christoph Schulze, Andreas Wortmann | 2013 | other | Monticore |
Platform Building
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 | Tool |
|---|---|---|---|---|---|
| datta2012robostudio | Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robotIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on | Chandan Datta, Chandimal Jayawardena, I Han Kuo, Bruce A MacDonald | 2012 | unknown | Netbeans |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and ValidationSimulation, Modeling, and Programming for Autonomous Robots | Nicolas Gobillot, Charles Lesire, David Doose | 2014 | unknown | EMF/GMF |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| kang20053d | 3d virtual prototyping of home service robots using asadal/objRobotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on | Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, Seokwon Bang | 2005 | unknown | ASADAL/OBJ |
| kim2003task | Task description language for underwater robotsIntelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on | Tae Won Kim, Junku Yuh | 2003 | (E)BNF | unknown |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming languageIntelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on | Hiroyuki Nishiyama, Hayato Ohwada, Fumio Mizoguchi | 1998 | unknown | unknown |
| ramaswamy2014solution | Solution space modeling for robotic systemsJournal for Software Engineering Robotics (JOSER) | Arun Kumar Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
Capability Building
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 | Tool |
|---|---|---|---|---|---|
| aertbelien2014etasl | eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphsIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Erwin Aertbeliën, Joris De Schutter | 2014 | ||
| aggarwal1994specification | Specification and automated implementation of coordination protocols in distributed controls for flexible manufacturing cellsRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on | Sudhir Aggarwal, Sandeep Mitra, Sanjay S Jagdale | 1994 | unknown | unknown |
| alonso2010v3cmm | V3cmm: A 3-view component meta-model for model-driven robotic software developmentJournal of Software Engineering for Robotics | Diego Alonso, Cristina Vicente-Chicote, Francisco Ortiz, Juan Pastor, Barbara Alvarez | 2010 | ecore | EMF/GMF |
| Araiza-Illan2016 | Intelligent Agent-Based Stimulation for Testing Robotic Software in Human-Robot Interactions | Dejanira Araiza-Illan, Anthony G. Pipe, Kerstin Eder | 2016 | unknown | none |
| berenz2014targets | Targets-Drives-Means: A declarative approach to dynamic behavior specification with higher usabilityRobotics and Autonomous Systems | Vincent Berenz, Kenji Suzuki | 2014 | unknown | unknown |
| biggs2008evaluating | Evaluating a reactive semantics for roboticsIntelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on | Geoffrey Biggs, Bruce A MacDonald | 2008 | none | |
| bouzouia1998three | A three-layer workcell control architecture designRobotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on | Brahim Bouzouia, Fawzi Guerroumi, Abdelmalek Boukhezar | 1998 | unknown | unknown |
| coste1997maestro | The maestro language and its environment: Specification, validation and control of robotic missionsIntelligent Robots and Systems, 1997. IROS'97., Proceedings of the 1997 IEEE/RSJ International Conference on | Eve Coste-Maniere, Nicolas Turro | 1997 | unknown | unknown |
| dai2002specifying | Specifying behavior in C++Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on | Xiangtian Dai, Gregory Hager, John Peterson | 2002 | internal (c++) | |
| dantam2011motion | The motion grammar for physical human-robot gamesRobotics and Automation (ICRA), 2011 IEEE International Conference on | Neil Dantam, P Koine, Mike Stilman | 2011 | other | unknown |
| dantam2012linguistic | Linguistic transfer of human assembly tasks to robotsIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on | Neil Dantam, Irfan Essa, Mike Stilman | 2012 | (E)BNF | unknown |
| datta2012robostudio | Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robotIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on | Chandan Datta, Chandimal Jayawardena, I Han Kuo, Bruce A MacDonald | 2012 | unknown | Netbeans |
| de2012scripting | A Scripting-Based Approach to Robot Behavior Engineering using Hierarchical GeneratorsRobotics and Automation (ICRA), 2012 IEEE International Conference on | Thijs Jeffry de Haas, Tim Laue, T Rofer | 2012 | unknown | unknown |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applicationsSimulation, Modeling, and Programming for Autonomous Robots | Saadia Dhouib, Selma Kchir, Serge Stinckwich, Tewfik Ziadi, Mikal Ziane | 2012 | UML/MOF | GMF |
| fayman1999av | AV-shell, an environment for autonomous robotic applications using active visionAutonomous Robots | Jeffrey A Fayman, Ehud Rivlin, Henrik I Christensen | 1999 | unknown | unknown |
| fleurey2009domain | A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systemsModel Driven Engineering Languages and Systems | Franck Fleurey, Arnor Solberg | 2009 | ecore | GMF |
| fleury1994design | Design of a modular architecture for autonomous robotRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on | Sara Fleury, Matthieu Herrb, Raja Chatila | 1994 | unknown | Lex, Yacc |
| freund2001state | State oriented modeling as enabling technology for projective virtual realityIntelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on | Eckhard Freund, Michael Schluse, Jürgen Rossmann | 2001 | unknown | unknown |
| gat1991alfa | Alfa: A language for programming reactive robotic control systemsRobotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on | Erann Gat | 1991 | unknown | |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and ValidationSimulation, Modeling, and Programming for Autonomous Robots | Nicolas Gobillot, Charles Lesire, David Doose | 2014 | unknown | EMF/GMF |
| gordillo1991high | LE: a high level language for specifying vision verification tasksRobotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on | Jose L Gordillo | 1991 | unknown | unknown |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| horswill2000functional | Functional programming of behavior-based systemsAutonomous Robots | Ian Douglas Horswill | 2000 | none | |
| joyeux2010managing | Managing plans: Integrating deliberation and reactive execution schemesRobotics and Autonomous Systems | Sylvain Joyeux, Frank Kirchner, Simon Lacroix | 2010 | unknown | unknown |
| kang20053d | 3d virtual prototyping of home service robots using asadal/objRobotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on | Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, Seokwon Bang | 2005 | unknown | ASADAL/OBJ |
| kim2003task | Task description language for underwater robotsIntelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on | Tae Won Kim, Junku Yuh | 2003 | (E)BNF | unknown |
| kovsecka1997experiments | Experiments in behavior compositionRobotics and Autonomous systems | Jana Košecká, Henrik I Christensen, Ruzena Bajcsy | 1997 | other | unknown |
| kubica2002creating | Creating a smarter membrane: Automatic code generation for modular self-reconfigurable robotsRobotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on | Jeremy Kubica, Eleanor Rieffel | 2002 | unknown | unknown |
| kulakowski2012modeling | Modeling robot behavior with CCLSimulation, Modeling, and Programming for Autonomous Robots | Konrad Kułakowski, Tomasz Szmuc | 2012 | ||
| loetzsch2006xabsl | XABSL-a pragmatic approach to behavior engineeringIntelligent Robots and Systems, 2006 IEEE/RSJ International Conference on | Martin Loetzsch, Max Risler, Matthias Jungel | 2006 | (E)BNF | unknown |
| mackenzie1995specification | Specification and execution of multiagent missionsIntelligent Robots and Systems 95.'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on | Douglas C MacKenzie, Jonathan M Cameron, Ronald C Arkin | 1995 | unknown | MissionLab |
| maenpaa2004distributed | A distributed architecture for executing complex tasks with multiple robotsRobotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on | Topi Maenpaa, Antti Tikanmaki, Jukka Riekki, Juha Roning | 2004 | XSD | none |
| mallet2002specification | A specification of generic robotics software components: future evolutions of G en o M in the Orocos contextIntelligent Robots and Systems, 2002. IEEE/RSJ International Conference on | Anthony Mallet, Sara Fleury, Herman Bruyninckx | 2002 | (E)BNF | unknown |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming languageIntelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on | Hiroyuki Nishiyama, Hayato Ohwada, Fumio Mizoguchi | 1998 | unknown | unknown |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific LanguagesInternational Conference on Robotics and Automation (ICRA) | Arne Nordmann, Sebastian Wrede, Jochen J. Steil | 2015 | MPS | |
| o2014automatic | Automatic Verification of Autonomous Robot MissionsSimulation, Modeling, and Programming for Autonomous Robots | Matthew O’Brien, Ronald C Arkin, Dagan Harrington, Damian Lyons, Shu Jiang | 2014 | unknown | unknown |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-ForgeSimulation, Modeling, and Programming for Autonomous Robots | Francisco J Ortiz, Diego Alonso, Francisca Rosique, Francisco Sánchez-Ledesma, Juan A Pastor | 2014 | unknown | EMF/GMF |
| peterson1999language | A language for declarative robotic programmingRobotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on | John Peterson, Gregory D Hager, Paul Hudak | 1999 | other | unknown |
| ramaswamy2014solution | Solution space modeling for robotic systemsJournal for Software Engineering Robotics (JOSER) | Arun Kumar Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ramirez2011automatic | Automatic derivation of utility functions for monitoring software requirementsModel Driven Engineering Languages and Systems | Andres J Ramirez, Betty HC Cheng | 2011 | unknown | |
| rugg1994formal | A formal semantics for multiple vehicle task and motion planningRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on | Neil Rugg-Gunn, Stephen Cameron | 1994 | other | |
| rusakov2014simple | Simple concurrency for robotics with the Roboscoop frameworkIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Andrey Rusakov, Jiwon Shin, Bertrand Meyer | 2014 | unknown | none |
| simmons1998task | A task description language for robot controlIntelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on | Reid Simmons, David Apfelbaum | 1998 | (E)BNF | unknown |
| steck2011managing | Managing execution variants in task coordination by exploiting design-time models at run-timeIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on | Andreas Steck, Christian Schlegel | 2011 | internal (lisp) | |
| sun2012model | A model-driven approach to support engineering changes in industrial robotics software | Yu Sun, Jeff Gray, Karlheinz Bulheller, Nicolaus von Baillou | 2012 | ||
| thomas2013new | A New Skill Based Robot Programming Language Using UML/P StatechartsRobotics and Automation (ICRA), 2013 IEEE International Conference on | Ulrike Thomas, Gerd Hirzinger, Bernhard Rumpe, Christoph Schulze, Andreas Wortmann | 2013 | other | Monticore |
| tousignant2011overview | An overview of XRobots: A hierarchical state machine based languageICRA-2011 Workshop on Software Development and Integration in Robotics, Shanghai, China May | Steve Tousignant, Eric Van Wyk, Maria Gini | 2011 | silver | silver |
| tousignant2012xrobots | XRobots: A flexible language for programming mobile robots based on hierarchical state machinesRobotics and Automation (ICRA), 2012 IEEE International Conference on | Steve Tousignant, Eric Van Wyk, Maria Gini | 2012 | unknown | unknown |
| wang2001reconfigurable | Reconfigurable software for open architecture controllersRobotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on | Shige Wang, Kang G Shin | 2001 | unknown | unknown |
| woithe2009programming | A programming architecture for smart autonomous underwater vehiclesIntelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on | Hans C Woithe, Ulrich Kremer | 2009 | other | flex/bison |
System Deployment
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 | Tool |
|---|---|---|---|---|---|
| alonso2010v3cmm | V3cmm: A 3-view component meta-model for model-driven robotic software developmentJournal of Software Engineering for Robotics | Diego Alonso, Cristina Vicente-Chicote, Francisco Ortiz, Juan Pastor, Barbara Alvarez | 2010 | ecore | EMF/GMF |
| bouzouia1998three | A three-layer workcell control architecture designRobotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on | Brahim Bouzouia, Fawzi Guerroumi, Abdelmalek Boukhezar | 1998 | unknown | unknown |
| datta2012robostudio | Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robotIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on | Chandan Datta, Chandimal Jayawardena, I Han Kuo, Bruce A MacDonald | 2012 | unknown | Netbeans |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applicationsSimulation, Modeling, and Programming for Autonomous Robots | Saadia Dhouib, Selma Kchir, Serge Stinckwich, Tewfik Ziadi, Mikal Ziane | 2012 | UML/MOF | GMF |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and ValidationSimulation, Modeling, and Programming for Autonomous Robots | Nicolas Gobillot, Charles Lesire, David Doose | 2014 | unknown | EMF/GMF |
| loetzsch2006xabsl | XABSL-a pragmatic approach to behavior engineeringIntelligent Robots and Systems, 2006 IEEE/RSJ International Conference on | Martin Loetzsch, Max Risler, Matthias Jungel | 2006 | (E)BNF | unknown |
| mallet2002specification | A specification of generic robotics software components: future evolutions of G en o M in the Orocos contextIntelligent Robots and Systems, 2002. IEEE/RSJ International Conference on | Anthony Mallet, Sara Fleury, Herman Bruyninckx | 2002 | (E)BNF | unknown |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-ForgeSimulation, Modeling, and Programming for Autonomous Robots | Francisco J Ortiz, Diego Alonso, Francisca Rosique, Francisco Sánchez-Ledesma, Juan A Pastor | 2014 | unknown | EMF/GMF |
Product Deployment
In the Product Deployment phase, an application is tailored to a specific robot system. This includes also the installation of maintenance instrumentation and a final target platform system testing.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| fleurey2009domain | A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systemsModel Driven Engineering Languages and Systems | Franck Fleurey, Arnor Solberg | 2009 | ecore | GMF |
Product Maintenance
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 | Tool |
|---|---|---|---|---|---|
| dantam2011motion | The motion grammar for physical human-robot gamesRobotics and Automation (ICRA), 2011 IEEE International Conference on | Neil Dantam, P Koine, Mike Stilman | 2011 | other | unknown |
| fleurey2009domain | A domain specific modeling language supporting specification, simulation and execution of dynamic adaptive systemsModel Driven Engineering Languages and Systems | Franck Fleurey, Arnor Solberg | 2009 | ecore | GMF |
| ramirez2011automatic | Automatic derivation of utility functions for monitoring software requirementsModel Driven Engineering Languages and Systems | Andres J Ramirez, Betty HC Cheng | 2011 | unknown |
Not assigned to a development phase
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| ferrein2008logic | Logic-based robot control in highly dynamic domainsRobotics and Autonomous Systems | Alexander Ferrein, Gerhard Lakemeyer | 2008 |