Elementary mission specification problems capture fundamental quantitative measures directly sourced and identified from the mission specification phase.
Quantitative Specification Patterns for Robotic Missions
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Accrue
Maximize the performance m while performing miss.
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Confidently
Achieve miss and ensure that confidence m is higher/lower than v.
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Conserve
Minimize the value of m performing miss.
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End
Terminate mission miss exactly at time m.
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Equidistance
Robot performs miss by keeping rob1 and rob2 at the same distance.
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Pause
Pause the mission miss for m time instants. Then, resume it.
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Preserve
Keep the value of m within interval [bl ,bu ] while performing miss.
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Proportional
Keep the time to perform miss1 and miss2 proportional by a factor p.
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Reliably
Ensure that the measure m is higher/lower than the value v.
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Repeat
Repeat the mission miss every m time units.
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Simultaneously
Execute the actions act1 ,act2 ,..., actn simultaneously.
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Timeout-Deadline
Execute miss. Stop the the execution when the timeout m is reached.
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Trail
Robot follows object o keeping a distance v.