Specification Patterns for Robotic Missions

  1. Exact Restricted Avoidance

    Applies when a restriction on the minimum number of occurrences is desired.

  2. Future Avoidance

    Specifies that a condition will be avoided in the future.

  3. Global Avoidance

    Specifies that an avoidance condition globally holds.

  4. Lower Restricted Avoidance

    Applies when a restriction on the minimum number of occurrences is desired.

  5. Upper Restricted Avoidance

    Applied when a restriction on the maximum number of occurrences is desired.