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.
38 publications
- 1985
- 1990
- 1995
- 2000
- 2005
- 2010
- 2015
Kinematics
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| frigerio2012model | Model based code generation for kinematics and dynamics computations in robot controllersWorkshop on Software Development and Integration in Robotics, St. Paul, Minnesota, USA | Marco Frigerio, Jonas Buchli, Darwin G Caldwell | 2012 | ecore | xtext |
| hornby2001evolution | Evolution of generative design systems for modular physical robotsRobotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on | Gregory S Hornby, Hod Lipson, Jordan B Pollack | 2001 | unknown | none |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems | Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido | 2011 | other | none |
| kanayama2000s | It's time to make mobile robots programmableRobotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on | Yutaka J Kanayama, C Thomas Wu | 2000 | 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 |
| manikonda1995motion | A motion description language and a hybrid architecture for motion planning with nonholonomic robotsRobotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on | Vikram Manikonda, Perinkulam S Krishnaprasad, James Hendler | 1995 | other | none |
Dynamics
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| frigerio2012model | Model based code generation for kinematics and dynamics computations in robot controllersWorkshop on Software Development and Integration in Robotics, St. Paul, Minnesota, USA | Marco Frigerio, Jonas Buchli, Darwin G Caldwell | 2012 | ecore | xtext |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems | Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido | 2011 | other | none |
Mechanisms and Actuation
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| hornby2001evolution | Evolution of generative design systems for modular physical robotsRobotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on | Gregory S Hornby, Hod Lipson, Jordan B Pollack | 2001 | unknown | none |
| 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 |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space explorationJournal of Field Robotics | Thomas M Roehr, Florian Cordes, Frank Kirchner | 2014 |
Sensing and Estimation
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| 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 |
| henderson1984logical | Logical sensor systemsJournal of Robotic Systems | Tom Henderson, Esther Shilcrat | 1984 | (E)BNF |
Motion Planning
Motion Planning covers collision-free trajectory planning for mobile platforms as well as robot actuators. This subdomain corresponds to Part A, Chapter 5 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| feniello2014program | Program synthesis by examples for object repositioning tasksIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Ashley Feniello, Hao Dang, Stan Birchfield | 2014 | unknown | none |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | unknown |
| kanayama2000s | It's time to make mobile robots programmableRobotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on | Yutaka J Kanayama, C Thomas Wu | 2000 | unknown | |
| kress2007structured | From structured english to robot motionIntelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on | Hadas Kress-Gazit, Georgios E Fainekos, George J Pappas | 2007 | LTL | none |
Motion Control
Motion Control addresses the dynamical model of robotic manipulators. This includes different controller approaches, such as independent-joint, PID as well as torque control. This subdomain corresponds to Part A, Chapter 6 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| buch2014applying | Applying Simulation and a Domain-Specific Language for an Adaptive Action LibrarySimulation, Modeling, and Programming for Autonomous Robots | Jacob Pørksen Buch, Johan Sund Laursen, Lars Carøe Sørensen, Lars-Peter Ellekilde, Dirk Kraft, Ulrik Pagh Schultz, Henrik Gordon Petersen | 2014 | (E)BNF | unknown |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | unknown |
| hornby2001evolution | Evolution of generative design systems for modular physical robotsRobotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on | Gregory S Hornby, Hod Lipson, Jordan B Pollack | 2001 | unknown | none |
| kanayama2000s | It's time to make mobile robots programmableRobotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on | Yutaka J Kanayama, C Thomas Wu | 2000 | unknown | |
| kress2007structured | From structured english to robot motionIntelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on | Hadas Kress-Gazit, Georgios E Fainekos, George J Pappas | 2007 | LTL | none |
| manikonda1995motion | A motion description language and a hybrid architecture for motion planning with nonholonomic robotsRobotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on | Vikram Manikonda, Perinkulam S Krishnaprasad, James Hendler | 1995 | other | none |
| 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 | |
| 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 |
Architectures and Programming
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| adam2014towards | Towards rule-based dynamic safety monitoring for mobile robotsSimulation, Modeling, and Programming for Autonomous Robots | Sorin Adam, Morten Larsen, Kjeld Jensen, Ulrik Pagh Schultz | 2014 | unknown | |
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework MappingsRobotics and Automation (ICRA), 2012 IEEE International Conference on | Monica Anderson, Jason Bowman, Paul Kilgo | 2012 | ANTLR grammar | unknown |
| braberman2013controller | Controller synthesis: From modelling to enactmentProceedings of the 2013 International Conference on Software Engineering | Víctor Braberman, Nicolas D'Ippolito, Nir Piterman, Daniel Sykes, Sebastian Uchitel | 2013 | MTSA | |
| buch2014applying | Applying Simulation and a Domain-Specific Language for an Adaptive Action LibrarySimulation, Modeling, and Programming for Autonomous Robots | Jacob Pørksen Buch, Johan Sund Laursen, Lars Carøe Sørensen, Lars-Peter Ellekilde, Dirk Kraft, Ulrik Pagh Schultz, Henrik Gordon Petersen | 2014 | (E)BNF | unknown |
| causse1993man | A man machine interface for a mobile robotIntelligent Robots and Systems' 93, IROS'93. Proceedings of the 1993 IEEE/RSJ International Conference on | Olivier Causse, James L Crowley | 1993 | (E)BNF | unknown |
| Ciccozzi2016Adopting | Adopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot SystemsJournal of IEEE Access website | Federico Ciccozzi, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione | 2016 | FLYAQ, Eclipse Virgo, Eclipse Modeling Framework | |
| 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 |
| dittes2011intelligent | Intelligent system architectures-comparison by translationIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on | Benjamin Dittes, Christian Goerick | 2011 | unknown | |
| dittes2011language | A language for formal design of embedded intelligence research systemsRobotics and Autonomous Systems | Benjamin Dittes, Christian Goerick | 2011 | other | unknown |
| feniello2014program | Program synthesis by examples for object repositioning tasksIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Ashley Feniello, Hao Dang, Stan Birchfield | 2014 | unknown | none |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | 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 |
| gherardi2014modeling | Modeling and reusing robotic software architectures: the hyperflex toolchainRobotics and Automation (ICRA), 2014 IEEE International Conference on | Luca Gherardi, Davide Brugali | 2014 | ecore | 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 | |
| henderson1984logical | Logical sensor systemsJournal of Robotic Systems | Tom Henderson, Esther Shilcrat | 1984 | (E)BNF | |
| hochgeschwender2013model | A model-based approach to software deployment in roboticsIntelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on | Nico Hochgeschwender, Luca Gherardi, Azamat Shakhirmardanov, Gerhard K Kraetzschmar, Davide Brugali, Herman Bruyninckx | 2013 | ecore | xtext |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems | Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido | 2011 | other | none |
| 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 |
| kress2007structured | From structured english to robot motionIntelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on | Hadas Kress-Gazit, Georgios E Fainekos, George J Pappas | 2007 | LTL | none |
| lyons2013getting | Getting it right the first time: Robot mission guarantees in the presence of uncertaintyIntelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on | Damian M Lyons, Ronald C Arkin, Paramesh Nirmal, T-M Liu, J Deeb, et al. | 2013 | unknown | own development |
| 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 |
| raman2013explaining | Explaining impossible high-level robot behaviorsRobotics, IEEE Transactions on | Vasumathi Raman, Hadas Kress-Gazit | 2013 | unknown | |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic SystemsIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Anand Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ramaswamy2016an | An Extensible Model-Based Framework for Robotics Software Development2017 First IEEE International Conference on Robotic Computing (IRC) | A. Ramaswamy, B. Monsuez, A. Tapus | 2016 | ||
| ramaswamy2017extensible | An Extensible Model-based Framework Development Methodology for Robotic SystemsJournal of Software Engineering for Robotics | Arunkumar Ramaswamy, Bruno Monsuez, Adriana Tapus | 2017 | EMF | |
| ramirez2011automatic | Automatic derivation of utility functions for monitoring software requirementsModel Driven Engineering Languages and Systems | Andres J Ramirez, Betty HC Cheng | 2011 | unknown | |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space explorationJournal of Field Robotics | Thomas M Roehr, Florian Cordes, Frank Kirchner | 2014 | ||
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineeringSimulation, Modeling, and Programming for Autonomous Robots | Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll | 2010 | UML/MOF | GMF |
| 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 |
Reasoning Methods
Reasoning Methods focuse on symbol-based reasoning and knowledge representation. It covers logic- as well as probability-based approaches. Furthermore, this category also addresses learning, such as inductive logic learning, neuronal networks and reinforcement learning. This subdomain corresponds to Part A, Chapter 9 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| bocionek1990generating | Generating expert systems for configuration tasksRobotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on | S Bocionek, P Buchka, J Schweiger | 1990 | ||
| feniello2014program | Program synthesis by examples for object repositioning tasksIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Ashley Feniello, Hao Dang, Stan Birchfield | 2014 | unknown | none |
| 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 |
| raman2013explaining | Explaining impossible high-level robot behaviorsRobotics, IEEE Transactions on | Vasumathi Raman, Hadas Kress-Gazit | 2013 | unknown | |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space explorationJournal of Field Robotics | Thomas M Roehr, Florian Cordes, Frank Kirchner | 2014 |