Specification Patterns for Robotic Missions

  1. Bound Delay

    Counteraction in the next time instant, depending on a condition.

  2. Bound Reaction

    A counteraction must be performed every time and only when a specific location is entered.

  3. Delayed Reaction

    Applies when the occurrence of a stimulus triggers a counteraction later.

  4. Instantaneous Reaction

    Applies when occurrence of a stimulus instantaneously triggers a counteraction.

  5. Patrolling

    Given a set of locations the robot should repeatedly visit all the locations.

  6. Prompt Reaction

    Occurrence of a stimulus triggers a counteraction promptly.

  7. Wait

    Inaction is desired till a stimulus occurs.