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.
10 publications
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- 2015
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 |
|---|---|---|---|---|---|
| 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 |
| menghi2019Specification | Specification Patterns for Robotic MissionsTransactions on Software Engineering websitedownload | C. Menghi, C. Tsigkanos, P. Pelliccione, C. Ghezzi, T. Berger | 2019 | LTL/CTL |
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 |
|---|---|---|---|---|---|
| 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 |
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 |
|---|---|---|---|---|---|
| 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 | |
| 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) |
| 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 |
| 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 | |
| kunze2011towards | Towards semantic robot description languagesRobotics and Automation (ICRA), 2011 IEEE International Conference on | Lars Kunze, Tobias Roehm, Michael Beetz | 2011 | OWL | |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robotsRobotics and Automation, IEEE Transactions on | Fabrice R Noreils, Raja G Chatila | 1995 | (E)BNF | unknown |
| raman2012avoiding | Avoiding forgetfulness: Structured English specifications for high-level robot control with implicit memoryIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on | Vasumathi Raman, Bingxin Xu, Hadas Kress-Gazit | 2012 | LTL | LTLMoP |
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 |
|---|---|---|---|---|---|
| kunze2011towards | Towards semantic robot description languagesRobotics and Automation (ICRA), 2011 IEEE International Conference on | Lars Kunze, Tobias Roehm, Michael Beetz | 2011 | OWL | |
| menghi2019Specification | Specification Patterns for Robotic MissionsTransactions on Software Engineering websitedownload | C. Menghi, C. Tsigkanos, P. Pelliccione, C. Ghezzi, T. Berger | 2019 | LTL/CTL | |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robotsRobotics and Automation, IEEE Transactions on | Fabrice R Noreils, Raja G Chatila | 1995 | (E)BNF | unknown |
| raman2012avoiding | Avoiding forgetfulness: Structured English specifications for high-level robot control with implicit memoryIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on | Vasumathi Raman, Bingxin Xu, Hadas Kress-Gazit | 2012 | LTL | LTLMoP |