{"id":"https://openalex.org/W7137979047","doi":"https://doi.org/10.48550/arxiv.2603.15427","title":"Formalisms for Robotic Mission Specification and Execution: A Comparative Analysis","display_name":"Formalisms for Robotic Mission Specification and Execution: A Comparative Analysis","publication_year":2026,"publication_date":"2026-03-16","ids":{"openalex":"https://openalex.org/W7137979047","doi":"https://doi.org/10.48550/arxiv.2603.15427"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.15427","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.15427","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.15427","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019183235","display_name":"Gianluca Filippone","orcid":"https://orcid.org/0000-0001-8908-6960"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Filippone, Gianluca","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129695756","display_name":"Sara Pettinari","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pettinari, Sara","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5013103539","display_name":"Patrizio Pelliccione","orcid":"https://orcid.org/0000-0002-5438-2281"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pelliccione, Patrizio","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.305400013923645,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.305400013923645,"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.1177000030875206,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.04670000076293945,"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/rotation-formalisms-in-three-dimensions","display_name":"Rotation formalisms in three dimensions","score":0.869700014591217},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6516000032424927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5849999785423279},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.5493999719619751},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.45719999074935913},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.446399986743927},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.43869999051094055}],"concepts":[{"id":"https://openalex.org/C171018156","wikidata":"https://www.wikidata.org/wiki/Q7370306","display_name":"Rotation formalisms in three dimensions","level":2,"score":0.869700014591217},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6516000032424927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6341999769210815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5849999785423279},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.5493999719619751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5475000143051147},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.5177000164985657},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.45719999074935913},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.446399986743927},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.43869999051094055},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4117000102996826},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.40230000019073486},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3944000005722046},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.38659998774528503},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3822000026702881},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.296999990940094},{"id":"https://openalex.org/C149091818","wikidata":"https://www.wikidata.org/wiki/Q2429814","display_name":"Software system","level":3,"score":0.2752000093460083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2581000030040741},{"id":"https://openalex.org/C19527686","wikidata":"https://www.wikidata.org/wiki/Q1665453","display_name":"System integration","level":2,"score":0.25369998812675476},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.15427","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.15427","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.15427","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.15427","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robots":[0],"are":[1],"increasingly":[2],"deployed":[3],"across":[4],"diverse":[5],"domains":[6],"and":[7,18,28,79,83,100,107,146,152,158,170,183,195,205,208],"designed":[8],"for":[9,25,58,102,125,202],"multi-purpose":[10],"operation.":[11],"As":[12],"robotic":[13,186],"systems":[14],"grow":[15],"in":[16,20,39,61,88,154,185,197],"complexity":[17],"operate":[19],"dynamic":[21],"environments,":[22],"the":[23,40,160,168],"need":[24],"structured,":[26],"expressive,":[27],"scalable":[29],"mission-specification":[30],"approaches":[31,201],"becomes":[32],"critical,":[33],"with":[34,104,120,174],"mission":[35,127,147],"specifications":[36],"often":[37],"defined":[38],"field":[41],"by":[42],"domain":[43],"experts":[44],"rather":[45,135],"than":[46,136],"robotics":[47,89],"specialists.":[48],"However,":[49],"there":[50],"is":[51],"no":[52],"standard":[53],"or":[54,63],"widely":[55],"accepted":[56],"formalism":[57],"specifying":[59],"missions":[60],"single-":[62],"multi-robot":[64,209],"systems.":[65],"A":[66],"variety":[67],"of":[68,97,116,162],"formalisms,":[69],"such":[70],"as":[71],"Behavior":[72],"Trees,":[73],"State":[74],"Machines,":[75],"Hierarchical":[76],"Task":[77],"Networks,":[78],"Business":[80],"Process":[81],"Model":[82],"Notation,":[84],"have":[85],"been":[86],"adopted":[87],"to":[90,122,192],"varying":[91],"degrees,":[92],"each":[93],"providing":[94],"different":[95],"levels":[96],"abstraction,":[98],"expressiveness,":[99],"support":[101,193],"integration":[103],"human":[105],"workflows":[106],"external":[108],"devices.":[109],"This":[110],"paper":[111],"presents":[112],"a":[113],"systematic":[114],"analysis":[115],"these":[117],"four":[118],"formalisms":[119,169],"respect":[121],"their":[123,142,150,180],"suitability":[124],"robot":[126,137,207],"specification.":[128],"Our":[129],"study":[130],"focuses":[131],"on":[132],"mission-level":[133],"descriptions":[134],"software":[138],"development.":[139],"We":[140],"analyze":[141],"underlying":[143],"control":[144],"structures":[145],"concepts,":[148],"evaluate":[149],"expressiveness":[151],"limitations":[153],"modeling":[155,200],"real-world":[156],"missions,":[157],"assess":[159],"extent":[161],"available":[163],"tool":[164],"support.":[165],"By":[166],"comparing":[167],"validating":[171],"our":[172],"findings":[173],"experts,":[175],"we":[176],"provide":[177],"insights":[178],"into":[179],"applicability,":[181],"strengths,":[182],"shortcomings":[184],"system":[187],"modeling.":[188],"The":[189],"results":[190],"aim":[191],"practitioners":[194],"researchers":[196],"selecting":[198],"appropriate":[199],"designing":[203],"robust":[204],"adaptable":[206],"missions.":[210]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-18T00:00:00"}