Mobile robots are becoming increasingly important in society. Fulfilling complex missions in different contexts and environments, robots are promising instruments to support our everyday live. As such, the task of defining the robot’s mission is moving from professional developers and roboticists to the end-users. However, with the current state-of-the-art, defining missions is non-trivial and typically requires dedicated programming skills. Since end-users usually lack such skills, many commercial robots are nowadays equipped with environments and domain-specific languages tailored for end-users. As such, the software support for defining missions is becoming an increasingly relevant criterion when buying or choosing robots. Improving these environments and languages for specifying missions toward simplicity and flexibility is crucial. To this end, we need to improve our empirical understanding of the current state-of-the-art of such languages and their environments. In this paper, we contribute in this direction. We present a survey of 30 mission specification environments for mobile robots that come with a visual and end-user-oriented language. We explore the design space of these languages and their environments, identify their concepts, and organize them as features in a feature model. We believe that our results are valuable to practitioners and researchers designing the next generation of mission specification languages in the vibrant domain of mobile robots.

移动机器人在社会中变得越来越重要。机器人可以在不同的环境和环境中完成复杂的任务，因此它们是支持我们日常生活的有前途的工具。因此，定义机器人任务的任务正在从专业开发人员和机器人专家转移到最终用户。但是，使用当前的最新技术，定义任务并非易事，通常需要专门的编程技能。由于最终用户通常缺乏这种技能，因此当今许多商用机器人都配备了为最终用户量身定制的环境和特定领域的语言。这样，在购买或选择机器人时，用于定义任务的软件支持就变得越来越重要。改善这些环境和语言以指定实现简单性和灵活性的任务至关重要。为此，我们需要增强对此类语言及其环境的最新技术的经验理解。在本文中，我们朝着这个方向做出了贡献。我们提供了30种针对移动机器人的任务规范环境的调查报告，这些环境带有可视化和面向最终用户的语言。我们探索这些语言及其环境的设计空间，确定其概念，并将其组织为功能模型中的功能。我们相信，我们的结果对于在充满活力的移动机器人领域设计下一代任务规范语言的从业人员和研究人员而言非常有价值。我们提供了30种针对移动机器人的任务规范环境的调查，这些环境带有可视化和面向最终用户的语言。我们探索这些语言及其环境的设计空间，确定其概念，并将其组织为功能模型中的功能。我们相信，我们的结果对于在充满活力的移动机器人领域设计下一代任务规范语言的从业人员和研究人员而言非常有价值。我们提供了30种针对移动机器人的任务规范环境的调查报告，这些环境带有可视化和面向最终用户的语言。我们探索这些语言及其环境的设计空间，确定其概念，并将其组织为功能模型中的功能。我们相信，我们的结果对于在充满活力的移动机器人领域设计下一代任务规范语言的从业人员和研究人员而言非常有价值。