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platform-building-phase.html
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<!DOCTYPE html>
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<h1>Robotics DSL Zoo</h1>
<h2>Development Phase „Platform Building“</h2>
<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>
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<div id="chart_div_year" style="width: 550px; height: 200px; float:left;"></div><h3>Kinematics</h3>
<p>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.</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="#bordignon2011generalized" id="bordignon2011generalized">bordignon2011generalized<a/></td><td style="font-weight:bold;">Generalized programming of modular robots through kinematic configurations</td><td>Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramadorai1994generic" id="ramadorai1994generic">ramadorai1994generic<a/></td><td style="font-weight:bold;">A generic kinematics software package</td><td>Ramadorai, Arvind K and Ganapathy, U and Guida, F</td><td>1994</td>
<td>unknown</td>
</tr>
</tbody></table><br />
<h3>Dynamics</h3>
<p>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.</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="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
</tbody></table><br />
<h3>Mechanisms and Actuation</h3>
<p>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.</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="#fryer1998resource" id="fryer1998resource">fryer1998resource<a/></td><td style="font-weight:bold;">Resource modelling and combination in modular robotics systems</td><td>Fryer, J Andrew and McKee, Gerard T</td><td>1998</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kilgo2012visual" id="kilgo2012visual">kilgo2012visual<a/></td><td style="font-weight:bold;"><a href="http://rd.springer.com/chapter/10.1007%2F978-3-642-34327-8_14">A Visual Modeling Language for RDIS and ROS Nodes Using AToM3</a></td><td>Kilgo, Paul and Syriani, Eugene and Anderson, Monica</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kitagishi2002development" id="kitagishi2002development">kitagishi2002development<a/></td><td style="font-weight:bold;">Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networks</td><td>Kitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi</td><td>2002</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ljungkrantz2007implementing" id="ljungkrantz2007implementing">ljungkrantz2007implementing<a/></td><td style="font-weight:bold;">Implementing a control system framework for automatic generation of manufacturing cell controllers</td><td>Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin</td><td>2007</td>
<td>XSD</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>
<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>Sensing and Estimation</h3>
<p>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.</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="#fryer1998resource" id="fryer1998resource">fryer1998resource<a/></td><td style="font-weight:bold;">Resource modelling and combination in modular robotics systems</td><td>Fryer, J Andrew and McKee, Gerard T</td><td>1998</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="#kilgo2012visual" id="kilgo2012visual">kilgo2012visual<a/></td><td style="font-weight:bold;"><a href="http://rd.springer.com/chapter/10.1007%2F978-3-642-34327-8_14">A Visual Modeling Language for RDIS and ROS Nodes Using AToM3</a></td><td>Kilgo, Paul and Syriani, Eugene and Anderson, Monica</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ljungkrantz2007implementing" id="ljungkrantz2007implementing">ljungkrantz2007implementing<a/></td><td style="font-weight:bold;">Implementing a control system framework for automatic generation of manufacturing cell controllers</td><td>Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin</td><td>2007</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramaswamy2014solution" id="ramaswamy2014solution">ramaswamy2014solution<a/></td><td style="font-weight:bold;">Solution space modeling for robotic systems</td><td>Ramaswamy, Arun Kumar and Monsuez, Bruno and Tapus, Adriana</td><td>2014</td>
<td>ecore</td>
</tr>
</tbody></table><br />
<h3>Motion Planning</h3>
<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>
<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>Motion Control</h3>
<p>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.</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="#kim2003task" id="kim2003task">kim2003task<a/></td><td style="font-weight:bold;">Task description language for underwater robots</td><td>Kim, Tae Won and Yuh, Junku</td><td>2003</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kitagishi2002development" id="kitagishi2002development">kitagishi2002development<a/></td><td style="font-weight:bold;">Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networks</td><td>Kitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi</td><td>2002</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#morelli2014control" id="morelli2014control">morelli2014control<a/></td><td style="font-weight:bold;">Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach</td><td>Morelli, Matteo and Di Natale, Marco</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nishiyama1998logic" id="nishiyama1998logic">nishiyama1998logic<a/></td><td style="font-weight:bold;">Logic specifications for multiple robots based on a current programming language</td><td>Nishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio</td><td>1998</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramadorai1994generic" id="ramadorai1994generic">ramadorai1994generic<a/></td><td style="font-weight:bold;">A generic kinematics software package</td><td>Ramadorai, Arvind K and Ganapathy, U and Guida, F</td><td>1994</td>
<td>unknown</td>
</tr>
</tbody></table><br />
<h3>Architectures and Programming</h3>
<p>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.
<br />Due to its large number of entries, the Architectures and Programming subdomain is further subdivided into its disciplines, see <a href="architectures-and-programming-disciplines.html">Architectures and Programming Disciplines</a>.</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="#anderson2012rdis" id="anderson2012rdis">anderson2012rdis<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6225197">RDIS: Generalizing Domain Concepts to Specify Device to Framework Mappings</a></td><td>Anderson, Monica and Bowman, Jason and Kilgo, Paul</td><td>2012</td>
<td>ANTLR grammar</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#bordignon2011generalized" id="bordignon2011generalized">bordignon2011generalized<a/></td><td style="font-weight:bold;">Generalized programming of modular robots through kinematic configurations</td><td>Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#causse1993man" id="causse1993man">causse1993man<a/></td><td style="font-weight:bold;">A man machine interface for a mobile robot</td><td>Causse, Olivier and Crowley, James L</td><td>1993</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#datta2012robostudio" id="datta2012robostudio">datta2012robostudio<a/></td><td style="font-weight:bold;">Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robot</td><td>Datta, Chandan and Jayawardena, Chandimal and Kuo, I Han and MacDonald, Bruce A</td><td>2012</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="#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="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kim2003task" id="kim2003task">kim2003task<a/></td><td style="font-weight:bold;">Task description language for underwater robots</td><td>Kim, Tae Won and Yuh, Junku</td><td>2003</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#lesire2012mauve" id="lesire2012mauve">lesire2012mauve<a/></td><td style="font-weight:bold;">Mauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications.</td><td>Lesire, Charles and Doose, David and Cass\ e, Hug</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ljungkrantz2007implementing" id="ljungkrantz2007implementing">ljungkrantz2007implementing<a/></td><td style="font-weight:bold;">Implementing a control system framework for automatic generation of manufacturing cell controllers</td><td>Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin</td><td>2007</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#morelli2014control" id="morelli2014control">morelli2014control<a/></td><td style="font-weight:bold;">Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach</td><td>Morelli, Matteo and Di Natale, Marco</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nishiyama1998logic" id="nishiyama1998logic">nishiyama1998logic<a/></td><td style="font-weight:bold;">Logic specifications for multiple robots based on a current programming language</td><td>Nishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio</td><td>1998</td>
<td>unknown</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="#ramaswamy2014saferobots" id="ramaswamy2014saferobots">ramaswamy2014saferobots<a/></td><td style="font-weight:bold;">SafeRobots: A model-driven Framework for developing Robotic Systems</td><td>Ramaswamy, Anand and Monsuez, Bruno and Tapus, Adriana</td><td>2014</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramaswamy2014solution" id="ramaswamy2014solution">ramaswamy2014solution<a/></td><td style="font-weight:bold;">Solution space modeling for robotic systems</td><td>Ramaswamy, Arun Kumar and Monsuez, Bruno and Tapus, Adriana</td><td>2014</td>
<td>ecore</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>Reasoning Methods</h3>
<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>
<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 />
</div>
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<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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