{"id":"https://openalex.org/W4415776445","doi":"https://doi.org/10.1007/s10664-025-10724-z","title":"Mapping aids using output-directed programming increase novices\u2019 performance in programming mobile robotic systems","display_name":"Mapping aids using output-directed programming increase novices\u2019 performance in programming mobile robotic systems","publication_year":2025,"publication_date":"2025-11-02","ids":{"openalex":"https://openalex.org/W4415776445","doi":"https://doi.org/10.1007/s10664-025-10724-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10664-025-10724-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10664-025-10724-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10664-025-10724-z.pdf","source":{"id":"https://openalex.org/S109852484","display_name":"Empirical Software Engineering","issn_l":"1382-3256","issn":["1382-3256","1573-7616"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Empirical Software Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10664-025-10724-z.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026119416","display_name":"Thomas E. F. Witte","orcid":"https://orcid.org/0000-0001-9937-0762"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas Witte","raw_affiliation_strings":["Institute of Software Engineering and Programming Languages, Ulm University, Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Software Engineering and Programming Languages, Ulm University, Ulm, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031357139","display_name":"Andrea Vogt","orcid":"https://orcid.org/0000-0003-3523-9911"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andrea Vogt","raw_affiliation_strings":["Department Learning and Instruction, Institute of Psychology and Education, Ulm University, Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Department Learning and Instruction, Institute of Psychology and Education, Ulm University, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059752330","display_name":"Tina Seufert","orcid":"https://orcid.org/0000-0002-8685-4116"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tina Seufert","raw_affiliation_strings":["Department AI Engineering, Institute for AI Safety and Security, German Aerospace Center (DLR), Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Department AI Engineering, Institute for AI Safety and Security, German Aerospace Center (DLR), Ulm, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043271427","display_name":"Matthias Tichy","orcid":"https://orcid.org/0000-0002-9067-3748"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Matthias Tichy","raw_affiliation_strings":["Institute of Software Engineering and Programming Languages, Ulm University, Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Software Engineering and Programming Languages, Ulm University, Ulm, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043271427"],"corresponding_institution_ids":[],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":{"value":2290,"currency":"EUR","value_usd":2890},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35573209,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"31","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.2558000087738037,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.2558000087738037,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.17239999771118164,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.07329999655485153,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.8342999815940857},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7121000289916992},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5942999720573425},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5371000170707703},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4878999888896942},{"id":"https://openalex.org/keywords/program-comprehension","display_name":"Program comprehension","score":0.44110000133514404},{"id":"https://openalex.org/keywords/extreme-programming","display_name":"Extreme programming","score":0.42320001125335693},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4221000075340271},{"id":"https://openalex.org/keywords/pair-programming","display_name":"Pair programming","score":0.33239999413490295}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.8342999815940857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7900000214576721},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7121000289916992},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5942999720573425},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5371000170707703},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5264999866485596},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4878999888896942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4474000036716461},{"id":"https://openalex.org/C2777561058","wikidata":"https://www.wikidata.org/wiki/Q2652119","display_name":"Program comprehension","level":4,"score":0.44110000133514404},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.42719998955726624},{"id":"https://openalex.org/C122944926","wikidata":"https://www.wikidata.org/wiki/Q209711","display_name":"Extreme programming","level":5,"score":0.42320001125335693},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4221000075340271},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.41659998893737793},{"id":"https://openalex.org/C174063052","wikidata":"https://www.wikidata.org/wiki/Q607013","display_name":"Pair programming","level":4,"score":0.33239999413490295},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3127000033855438},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C169590947","wikidata":"https://www.wikidata.org/wiki/Q47506","display_name":"Compiler","level":2,"score":0.30300000309944153},{"id":"https://openalex.org/C128644962","wikidata":"https://www.wikidata.org/wiki/Q683111","display_name":"Visual programming language","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C76518257","wikidata":"https://www.wikidata.org/wiki/Q271680","display_name":"Software framework","level":5,"score":0.2741999924182892},{"id":"https://openalex.org/C131531359","wikidata":"https://www.wikidata.org/wiki/Q5421926","display_name":"Extensible programming","level":5,"score":0.2703000009059906},{"id":"https://openalex.org/C511192102","wikidata":"https://www.wikidata.org/wiki/Q5156948","display_name":"Comprehension","level":2,"score":0.2689000070095062},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26409998536109924},{"id":"https://openalex.org/C98183937","wikidata":"https://www.wikidata.org/wiki/Q2112188","display_name":"Program analysis","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.2522999942302704},{"id":"https://openalex.org/C34165917","wikidata":"https://www.wikidata.org/wiki/Q188267","display_name":"Programming paradigm","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10664-025-10724-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10664-025-10724-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10664-025-10724-z.pdf","source":{"id":"https://openalex.org/S109852484","display_name":"Empirical Software Engineering","issn_l":"1382-3256","issn":["1382-3256","1573-7616"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Empirical Software Engineering","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:218288","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10664-025-10724-z>.","pdf_url":"https://elib.dlr.de/218288/1/s10664-025-10724-z.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":{"id":"doi:10.1007/s10664-025-10724-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10664-025-10724-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10664-025-10724-z.pdf","source":{"id":"https://openalex.org/S109852484","display_name":"Empirical Software Engineering","issn_l":"1382-3256","issn":["1382-3256","1573-7616"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Empirical Software Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G352791218","display_name":null,"funder_award_id":"(BMBF)","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"},{"id":"https://openalex.org/G5739103719","display_name":null,"funder_award_id":"435878599","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G6052429835","display_name":null,"funder_award_id":"(DFG)","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8330397625","display_name":null,"funder_award_id":"Funding","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8928656450","display_name":null,"funder_award_id":"Projekt DEAL","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G984203311","display_name":null,"funder_award_id":"453895475","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415776445.pdf","grobid_xml":"https://content.openalex.org/works/W4415776445.grobid-xml"},"referenced_works_count":71,"referenced_works":["https://openalex.org/W33832165","https://openalex.org/W1586187438","https://openalex.org/W1835555989","https://openalex.org/W1977446748","https://openalex.org/W1984011104","https://openalex.org/W1988795791","https://openalex.org/W1989827665","https://openalex.org/W1993294034","https://openalex.org/W1999445487","https://openalex.org/W2004199933","https://openalex.org/W2017167966","https://openalex.org/W2026161499","https://openalex.org/W2038267832","https://openalex.org/W2041103998","https://openalex.org/W2052300761","https://openalex.org/W2053461611","https://openalex.org/W2059311901","https://openalex.org/W2064271775","https://openalex.org/W2072500831","https://openalex.org/W2077883864","https://openalex.org/W2091573400","https://openalex.org/W2096415318","https://openalex.org/W2103857331","https://openalex.org/W2108906160","https://openalex.org/W2114184575","https://openalex.org/W2116270294","https://openalex.org/W2122166962","https://openalex.org/W2132943302","https://openalex.org/W2151715145","https://openalex.org/W2157837575","https://openalex.org/W2157922094","https://openalex.org/W2167197769","https://openalex.org/W2400222299","https://openalex.org/W2461474081","https://openalex.org/W2585780990","https://openalex.org/W2587056882","https://openalex.org/W2752991534","https://openalex.org/W2765399661","https://openalex.org/W2767740804","https://openalex.org/W2775059447","https://openalex.org/W2794467911","https://openalex.org/W2795928368","https://openalex.org/W2885271276","https://openalex.org/W2888360114","https://openalex.org/W2889698935","https://openalex.org/W2890873226","https://openalex.org/W2908020564","https://openalex.org/W2912255365","https://openalex.org/W2915191839","https://openalex.org/W2953197673","https://openalex.org/W2966192018","https://openalex.org/W2976434409","https://openalex.org/W2979391352","https://openalex.org/W2991673376","https://openalex.org/W3003780881","https://openalex.org/W3007422522","https://openalex.org/W3043006642","https://openalex.org/W3049252626","https://openalex.org/W3092585488","https://openalex.org/W3116258726","https://openalex.org/W3126040299","https://openalex.org/W4212902469","https://openalex.org/W4214805454","https://openalex.org/W4242628327","https://openalex.org/W4248885579","https://openalex.org/W4252126747","https://openalex.org/W4285497876","https://openalex.org/W4288091274","https://openalex.org/W4386085222","https://openalex.org/W4401453428","https://openalex.org/W6925654438"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Context:":[1],"Novices":[2],"programming":[3,116,152,305,340],"robotic":[4],"systems\u2019":[5],"behavior,":[6],"like":[7],"quadcopter":[8,135,215],"missions,":[9],"face":[10],"several":[11],"challenges":[12,46],"and":[13,55,73,75,103,122,126,147,177,243,284],"require":[14],"adequate":[15],"support":[16,24,131,343],"to":[17,23,27,67,88,170,262],"overcome":[18],"initial":[19],"barriers.":[20],"One":[21],"approach":[22],"novices":[25,132,307],"is":[26,96],"display":[28],"multiple":[29],"representations":[30],"such":[31],"as":[32,199,201],"graphical":[33],"previews":[34],"along":[35],"with":[36],"the":[37,53,57,69,86,93,162,175,184,188,214,231,269,279,315,321],"code":[38,54,72],"editor.":[39],"Such":[40],"supportive":[41],"representations,":[42],"however,":[43],"also":[44],"pose":[45],"for":[47,100,212],"novices:":[48],"finding":[49,181],"corresponding":[50],"information":[51],"in":[52,56,92,149,174,268,278,308],"preview.":[58],"To":[59],"facilitate":[60],"this,":[61],"mapping":[62,105,111,129,166,301,325],"aids":[63,112,130,302,326],"can":[64,117],"be":[65,328],"implemented":[66],"clarify":[68],"connections":[70,173],"between":[71],"preview":[74],"foster":[76],"a":[77,97,194,310],"deeper":[78],"understanding.":[79],"Using":[80,154],"output-directed":[81,115,304],"programming,":[82,337],"that":[83],"is,":[84],"adding":[85],"ability":[87],"reverse":[89],"expression":[90],"evaluation":[91],"domain-specific":[94],"language,":[95],"promising":[98],"basis":[99],"easily":[101],"creating":[102],"implementing":[104,134,213],"aids.":[106],"Objective:":[107],"We":[108],"investigated,":[109],"whether":[110],"based":[113],"on":[114,183,190,230,320,331],"improve":[118],"learning":[119,148,197,204,228,258,286,334],"language":[120],"semantics":[121],"overall":[123],"program":[124,191,264,322],"correctness":[125,192,265],"how":[127],"these":[128],"while":[133,145,336],"missions.":[136],"Method:":[137],"In":[138],"our":[139,155],"study,":[140,159],"we":[141,160],"tested":[142],"$$N=82$$":[143],"participants":[144],"interacting":[146],"an":[150],"online":[151],"environment.":[153],"2x2":[156],"between-subject":[157],"design":[158],"investigated":[161],"effects":[163],"of":[164,187,203,257,314,333],"two":[165],"aids:":[167],"highlighting":[168],"(supports":[169,180],"find":[171],"element-based":[172],"environment)":[176],"dynamic":[178,225],"linking":[179,226],"similarities":[182],"semantic":[185,312],"level":[186,245],"content)":[189],"including":[193],"typical":[195],"error,":[196],"outcomes":[198,229,287],"well":[200],"traces":[202,332],"strategies.":[205],"Results:":[206],"While":[207],"highlights":[208],"were":[209,260],"more":[210],"helpful":[211],"missions":[216],"(mission":[217],"1:":[218],"$$p=.008$$":[219],"**,":[220],"$$\\eta":[221,238,251],"^2_{\\small":[222,239,252],"\\textit{partial}}=.091$$":[223],"),":[224],"improved":[227],"comprehension":[232],"(":[233,246],"$$F(1,75)=5.61$$":[234],",":[235,248,272,290,296],"$$p=.020$$":[236],"*,":[237,250],"\\textit{partial}}":[240,253],"=.070$$":[241],")":[242],"application":[244],"$$F(1,75)=4.08$$":[247],"$$p=.047$$":[249],"=.052$$":[254],").":[255],"Traces":[256],"strategies":[259,335],"related":[261],"higher":[263,285],"(organizing":[266],"(changes":[267],"preview)):":[270],"$$r=.553$$":[271],"$$p<.001$$":[273,282,291,297],"***;":[274,292],"elaborating":[275,293],"(time":[276],"engaging":[277],"task)):":[280],"$$r=.639$$":[281],"***)":[283],"(organizing:":[288],"$$r=.400$$":[289],":":[294],"$$r=.404$$":[295],"***).":[298],"Conclusions:":[299],"Implementing":[300],"through":[303],"supports":[306],"developing":[309],"better":[311],"understanding":[313],"domain":[316],"specific":[317],"language.":[318],"Depending":[319],"tasks,":[323],"different":[324],"might":[327,342],"effective.":[329],"Based":[330],"adaptive":[338],"interactive":[339],"environments":[341],"users":[344],"individually.":[345]},"counts_by_year":[],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2025-11-02T00:00:00"}