{"id":"https://openalex.org/W4414988724","doi":"https://doi.org/10.1145/3763169","title":"ROSpec: A Domain-Specific Language for ROS-Based Robot Software","display_name":"ROSpec: A Domain-Specific Language for ROS-Based Robot Software","publication_year":2025,"publication_date":"2025-10-09","ids":{"openalex":"https://openalex.org/W4414988724","doi":"https://doi.org/10.1145/3763169"},"language":"en","primary_location":{"id":"doi:10.1145/3763169","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3763169","pdf_url":null,"source":{"id":"https://openalex.org/S4210216081","display_name":"Proceedings of the ACM on Programming Languages","issn_l":"2475-1421","issn":["2475-1421"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Programming Languages","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1145/3763169","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101869604","display_name":"Paulo Santos","orcid":"https://orcid.org/0000-0002-0154-8989"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["PT","US"],"is_corresponding":true,"raw_author_name":"Paulo Canelas","raw_affiliation_strings":["LASIGE, University of Lisbon, Lisbon, Portugal","School of Computer Science, Carnegie Mellon University, Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"LASIGE, University of Lisbon, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057348711","display_name":"Bradley Schmerl","orcid":"https://orcid.org/0000-0001-7828-622X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bradley Schmerl","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089334093","display_name":"Alcides Fonseca","orcid":"https://orcid.org/0000-0002-0879-4015"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alcides Fonseca","raw_affiliation_strings":["LASIGE, University of Lisbon, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"LASIGE, University of Lisbon, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087160003","display_name":"Christopher S. Timperley","orcid":"https://orcid.org/0000-0002-9785-324X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher S. Timperley","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101869604"],"corresponding_institution_ids":["https://openalex.org/I141596103","https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14451417,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"OOPSLA2","first_page":"3313","last_page":"3341"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9965000152587891,"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"}},"topics":[{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9965000152587891,"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"}},{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7574999928474426},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.7092999815940857},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5942000150680542},{"id":"https://openalex.org/keywords/documentation","display_name":"Documentation","score":0.5888000130653381},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.5831999778747559},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.47920000553131104},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.4724999964237213},{"id":"https://openalex.org/keywords/toolchain","display_name":"Toolchain","score":0.45210000872612},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.436599999666214}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8230000138282776},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7574999928474426},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.7092999815940857},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5942000150680542},{"id":"https://openalex.org/C56666940","wikidata":"https://www.wikidata.org/wiki/Q788790","display_name":"Documentation","level":2,"score":0.5888000130653381},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.5831999778747559},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.49129998683929443},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.47920000553131104},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.47870001196861267},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.4724999964237213},{"id":"https://openalex.org/C2777062904","wikidata":"https://www.wikidata.org/wiki/Q545406","display_name":"Toolchain","level":3,"score":0.45210000872612},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.436599999666214},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.43540000915527344},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4260999858379364},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3806999921798706},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.3799999952316284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.353300005197525},{"id":"https://openalex.org/C152752567","wikidata":"https://www.wikidata.org/wiki/Q116877","display_name":"Code refactoring","level":3,"score":0.3490000069141388},{"id":"https://openalex.org/C179603123","wikidata":"https://www.wikidata.org/wiki/Q1941921","display_name":"Modeling language","level":3,"score":0.34439998865127563},{"id":"https://openalex.org/C149091818","wikidata":"https://www.wikidata.org/wiki/Q2429814","display_name":"Software system","level":3,"score":0.3400999903678894},{"id":"https://openalex.org/C135257023","wikidata":"https://www.wikidata.org/wiki/Q691358","display_name":"Domain-specific language","level":2,"score":0.32330000400543213},{"id":"https://openalex.org/C98184364","wikidata":"https://www.wikidata.org/wiki/Q1780131","display_name":"Argument (complex analysis)","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.2939000129699707},{"id":"https://openalex.org/C529173508","wikidata":"https://www.wikidata.org/wiki/Q638608","display_name":"Software development","level":3,"score":0.27880001068115234},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.2662000060081482},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C81587897","wikidata":"https://www.wikidata.org/wiki/Q181702","display_name":"Software documentation","level":5,"score":0.2578999996185303},{"id":"https://openalex.org/C201677973","wikidata":"https://www.wikidata.org/wiki/Q1209840","display_name":"Specification language","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3763169","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3763169","pdf_url":null,"source":{"id":"https://openalex.org/S4210216081","display_name":"Proceedings of the ACM on Programming Languages","issn_l":"2475-1421","issn":["2475-1421"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Programming Languages","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3763169","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3763169","pdf_url":null,"source":{"id":"https://openalex.org/S4210216081","display_name":"Proceedings of the ACM on Programming Languages","issn_l":"2475-1421","issn":["2475-1421"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Programming Languages","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8880309480","display_name":null,"funder_award_id":"2025.00002.HPCVLAB.ISTUL, POR011PRE","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":76,"referenced_works":["https://openalex.org/W435248461","https://openalex.org/W1480909796","https://openalex.org/W1502282368","https://openalex.org/W1630678085","https://openalex.org/W1858945639","https://openalex.org/W1928260456","https://openalex.org/W2005192022","https://openalex.org/W2045900383","https://openalex.org/W2050216715","https://openalex.org/W2068127265","https://openalex.org/W2095566415","https://openalex.org/W2100119371","https://openalex.org/W2111916866","https://openalex.org/W2119906889","https://openalex.org/W2125415493","https://openalex.org/W2146928461","https://openalex.org/W2148033465","https://openalex.org/W2162366870","https://openalex.org/W2258770051","https://openalex.org/W2284256543","https://openalex.org/W2295923951","https://openalex.org/W2340618214","https://openalex.org/W2436748408","https://openalex.org/W2612373297","https://openalex.org/W2615912581","https://openalex.org/W2765742677","https://openalex.org/W2772129057","https://openalex.org/W2775416623","https://openalex.org/W2775664586","https://openalex.org/W2793826868","https://openalex.org/W2888878287","https://openalex.org/W2899272441","https://openalex.org/W2913369926","https://openalex.org/W2933135141","https://openalex.org/W2993781365","https://openalex.org/W3036758131","https://openalex.org/W3047432916","https://openalex.org/W3048116582","https://openalex.org/W3082657317","https://openalex.org/W3088372654","https://openalex.org/W3097484271","https://openalex.org/W3100344681","https://openalex.org/W3109937781","https://openalex.org/W3160830781","https://openalex.org/W3178615740","https://openalex.org/W3181632927","https://openalex.org/W3181966798","https://openalex.org/W3200870767","https://openalex.org/W3207613969","https://openalex.org/W4225518078","https://openalex.org/W4231602332","https://openalex.org/W4256752910","https://openalex.org/W4280571816","https://openalex.org/W4281566571","https://openalex.org/W4315641098","https://openalex.org/W4318966488","https://openalex.org/W4367360106","https://openalex.org/W4378648031","https://openalex.org/W4379086787","https://openalex.org/W4379536176","https://openalex.org/W4384302747","https://openalex.org/W4387123858","https://openalex.org/W4391709556","https://openalex.org/W4393113457","https://openalex.org/W4394729324","https://openalex.org/W4394769519","https://openalex.org/W4396242236","https://openalex.org/W4401201563","https://openalex.org/W4401416970","https://openalex.org/W4401692110","https://openalex.org/W4403536024","https://openalex.org/W4411267104","https://openalex.org/W6884308701","https://openalex.org/W6912018758","https://openalex.org/W6942442943","https://openalex.org/W6959431731"],"related_works":[],"abstract_inverted_index":{"Component-based":[0],"robot":[1,63,168],"software":[2],"frameworks,":[3],"such":[4],"as":[5],"the":[6,103,123,131,146],"Robot":[7],"Operating":[8],"System":[9],"(ROS),":[10],"allow":[11],"developers":[12],"to":[13,36,58,76,105,158],"quickly":[14],"compose":[15],"and":[16,23,38,60,78,82,93,109,114,127,141,148,160,172,177],"execute":[17],"systems":[18],"by":[19,95,136,163,173],"focusing":[20],"on":[21,34,100],"configuring":[22],"integrating":[24],"reusable,":[25],"off-the-shelf":[26],"components.":[27],"However,":[28],"these":[29],"components":[30,135,162,182],"often":[31],"lack":[32],"documentation":[33,44],"how":[35],"configure":[37],"integrate":[39],"them":[40],"correctly.":[41],"Even":[42],"when":[43],"exists,":[45],"its":[46],"natural":[47],"language":[48,74,104],"specifications":[49,180],"are":[50],"not":[51],"enforced,":[52],"resulting":[53],"in":[54,89],"misconfigurations":[55],"that":[56],"lead":[57],"unpredictable":[59],"potentially":[61],"dangerous":[62],"behaviors.":[64],"In":[65],"this":[66],"work,":[67],"we":[68],"introduce":[69],"ROSpec,":[70],"a":[71,96,107,118,165,184,192],"ROS-tailored":[72],"domain-specific":[73],"designed":[75],"specify":[77,159],"verify":[79,161],"component":[80,128],"configurations":[81,144],"their":[83,138,151],"integration.":[84],"ROSpec's":[85,156],"design":[86],"is":[87],"grounded":[88],"ROS":[90],"domain":[91],"concepts":[92],"informed":[94],"prior":[97],"empirical":[98],"study":[99],"misconfigurations,":[101],"allowing":[102],"provide":[106],"usable":[108],"expressive":[110],"way":[111],"of":[112,125,134,150,186],"specifying":[113],"detecting":[115],"misconfigurations.":[116],"At":[117],"high":[119],"level,":[120],"ROSpec":[121],"verifies":[122],"correctness":[124],"argument":[126],"configurations,":[129],"ensures":[130],"correct":[132],"integration":[133],"checking":[137],"communication":[139],"properties,":[140],"checks":[142],"if":[143],"respect":[145],"assumptions":[147],"constraints":[149],"deployment":[152],"context.":[153],"We":[154],"demonstrate":[155],"ability":[157],"modeling":[164],"medium-sized":[166],"warehouse":[167],"with":[169],"19":[170],"components,":[171],"manually":[174],"analyzing,":[175],"categorizing,":[176],"implementing":[178],"partial":[179],"for":[181],"from":[183,191],"dataset":[185],"182":[187],"misconfiguration":[188],"questions":[189],"extracted":[190],"robotics":[193],"Q&amp;A":[194],"platform.":[195]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
