Elementary mission specification problems capture fundamental quantitative measures directly sourced and identified from the mission specification phase. Composite mission specification problems express higher- order robotics concerns. Composite patterns are a form of syntactic sugar over elementary ones, yielding higher-order constructs.

Elementary Patterns

Pattern Description
Maximise Maximize m while performing the mission miss.
Minimise Minimize m while performing the mission miss.
At most Keep m lower than or equal to v while performing miss.
Less than Keep m strictly lower than v while performing miss.
At least Keep m greater than or equal to v while performing miss.
Greater than Keep m strictly greater than v while performing miss.
Exactly Keep m exactly v while performing miss.
Bounding the value Keep m within the (closed) interval [v1, v2] while performing miss.
Strict bounding the value Keep m within the (open) interval (v1, v2) while performing miss.

Composite Patterns

Pattern Description
Conservation Minimize the value of m performing miss.
Preservation Keep the value of m within interval [bl ,bu ] while performing miss.
Pause Pause the mission miss for m time instants. Then, restart it.
Timeout-deadline Execute miss. Stop the the execution when the timeout m is reached.
Repeat Repeat the mission miss every m time units.
End Terminate mission miss exactly at time m.
Proportionality Keep the time to perform miss1 and miss2 proportional by a factor p.
Simultaneously Execute the actions act1 ,act2 ,…, actn simultaneously.
Accrue Maximize the performance m while performing miss.
Reliably Ensure that the measure m is higher/lower than the value v.
Confidently Achieve miss and ensure that confidence m is higher/lower than v.
Equidistance rob performs miss by keeping rob1 and rob2 at the same distance.
Trail rob follows object o keeping a distance v.