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<h1>Robotics DSL Zoo</h1>
<h2>Subdomain „Motion Control“</h2>
<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>
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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="#buch2014applying" id="buch2014applying">buch2014applying<a/></td><td style="font-weight:bold;">Applying Simulation and a Domain-Specific Language for an Adaptive Action Library</td><td>Buch, Jacob P\orksen and Laursen, Johan Sund and S\orensen, Lars Car\oe and Ellekilde, Lars-Peter and Kraft, Dirk and Schultz, Ulrik Pagh and Petersen, Henrik Gordon</td><td>2014</td>
<td>(E)BNF</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="#hornby2001evolution" id="hornby2001evolution">hornby2001evolution<a/></td><td style="font-weight:bold;">Evolution of generative design systems for modular physical robots</td><td>Hornby, Gregory S and Lipson, Hod and Pollack, Jordan B</td><td>2001</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="#manikonda1995motion" id="manikonda1995motion">manikonda1995motion<a/></td><td style="font-weight:bold;">A motion description language and a hybrid architecture for motion planning with nonholonomic robots</td><td>Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James</td><td>1995</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nordmann2015modeling" id="nordmann2015modeling">nordmann2015modeling<a/></td><td style="font-weight:bold;"><a href="https://pub.uni-bielefeld.de/download/2717042/2753034">Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages</a></td><td>Arne Nordmann and Sebastian Wrede and Jochen J. Steil</td><td>2015</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#thomas2013new" id="thomas2013new">thomas2013new<a/></td><td style="font-weight:bold;"><a href="http://www.se-rwth.de/publications/A-New-Skill-Based-Robot-Programming-Language-Using-UML-P-Statecharts.pdf">A New Skill Based Robot Programming Language Using UML/P Statecharts</a></td><td>Thomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas</td><td>2013</td>
<td>other</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="#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>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="#barth2012goto" id="barth2012goto">barth2012goto<a/></td><td style="font-weight:bold;">A GOTO-based concept for intuitive robot programming</td><td>Barth, Katharina and Henrich, Dominik</td><td>2012</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#buch2014applying" id="buch2014applying">buch2014applying<a/></td><td style="font-weight:bold;">Applying Simulation and a Domain-Specific Language for an Adaptive Action Library</td><td>Buch, Jacob P\orksen and Laursen, Johan Sund and S\orensen, Lars Car\oe and Ellekilde, Lars-Peter and Kraft, Dirk and Schultz, Ulrik Pagh and Petersen, Henrik Gordon</td><td>2014</td>
<td>(E)BNF</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#burbidge2009grammatical" id="burbidge2009grammatical">burbidge2009grammatical<a/></td><td style="font-weight:bold;">Grammatical evolution of a robot controller</td><td>Burbidge, Robert and Walker, Joanne H and Wilson, Myra S</td><td>2009</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="#fayman1999av" id="fayman1999av">fayman1999av<a/></td><td style="font-weight:bold;">AV-shell, an environment for autonomous robotic applications using active vision</td><td>Fayman, Jeffrey A and Rivlin, Ehud and Christensen, Henrik I</td><td>1999</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="#graves1999distributed" id="graves1999distributed">graves1999distributed<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=770434">Distributed generic control for multiple types of telerobot</a></td><td>Graves, Alan R and Czarnecki, Chris</td><td>1999</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="#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="#klotzbucher2011reusable" id="klotzbucher2011reusable">klotzbucher2011reusable<a/></td><td style="font-weight:bold;">Reusable hybrid force-velocity controlled motion specifications with executable domain specific languages</td><td>Klotzbucher, M and Smits, Ruben and Bruyninckx, Herman and De Schutter, Joris</td><td>2011</td>
<td>unknown</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="#manikonda1995motion" id="manikonda1995motion">manikonda1995motion<a/></td><td style="font-weight:bold;">A motion description language and a hybrid architecture for motion planning with nonholonomic robots</td><td>Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James</td><td>1995</td>
<td>other</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="#nordmann2015modeling" id="nordmann2015modeling">nordmann2015modeling<a/></td><td style="font-weight:bold;"><a href="https://pub.uni-bielefeld.de/download/2717042/2753034">Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages</a></td><td>Arne Nordmann and Sebastian Wrede and Jochen J. Steil</td><td>2015</td>
<td></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>
<tr style="border-top:1px solid #000;">
<td><a href="#thomas2013new" id="thomas2013new">thomas2013new<a/></td><td style="font-weight:bold;"><a href="http://www.se-rwth.de/publications/A-New-Skill-Based-Robot-Programming-Language-Using-UML-P-Statecharts.pdf">A New Skill Based Robot Programming Language Using UML/P Statecharts</a></td><td>Thomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas</td><td>2013</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#utz2005hierarchical" id="utz2005hierarchical">utz2005hierarchical<a/></td><td style="font-weight:bold;">Hierarchical behavior organization</td><td>Utz, Hans and Kraetzschmar, Gerhard and Mayer, Gerd and Palm, G\ unther</td><td>2005</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#vanthienen2013rapid" id="vanthienen2013rapid">vanthienen2013rapid<a/></td><td style="font-weight:bold;">Rapid application development of constrained-based task modelling and execution using domain specific languages</td><td>Vanthienen, Dominick and Klotzbuucher, M and De Schutter, Joris and De Laet, Tinne and Bruyninckx, Herman</td><td>2013</td>
<td>unknown</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>System Deployment</h3>
<p>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.</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="#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>
</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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