Mission Specification Patterns for Mobile Robots: Providing Support for Quantitative Properties

With many applications across domains as diverse logistics, healthcare, and agriculture, service robots are in increasingly high demand. Nevertheless, the designers of these often struggle with specifying their tasks a way that is both human-understandable sufficiently precise to enable automated verification planning robotic missions. Recent research has addressed this problem for functional aspects missions through use mission specification patterns . These patterns support definition involving, instance, patrolling perimeter, avoidance unsafe locations within an area, or reacting specific events. Our paper introduces catalog xmlns:xlink="http://www.w3.org/1999/xlink">QUantitAtive RoboTic mission spEcificaTion (QUARTET) tackles complementary equally important challenge reliability, performance, resource usage, other key quantitative properties Identified using methodology included analysis 73 papers published 17 leading software engineering robotics venues between 2014–2021, our 22 QUARTET defined tool-supported domain-specific language. As such, enables: (i) robotic-mission requirements (ii) translation into probabilistic reward computation tree logic (PRCTL), supporting formal We demonstrate applicability by showing it supports over 95% from systematically selected set recent papers, which 75% can be automatically translated PRCTL purposes model checking planning.