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motion-planning-subdomain.html
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<h1>Robotics DSL Zoo</h1>
<h2>Subdomain „Motion Planning“</h2>
<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>
<script type="text/javascript" src="https://www.google.com/jsapi"></script>
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function drawChart() {
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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="#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>
</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="#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="#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>
</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="#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>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="#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>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="#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>
</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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