We checked how the pattern catalog supports the formulation of mission requirements (and the generation of mission specifications) in real-world robotic scenarios. To this end, we defined five scenarios in collaboration with our industrial partners.

SC Description Patterns
SC1 A robot is deployed within a supermarket and reports about the absence of sold items within a set of locations (i.e. l1, l2, l3, and l4). Furthermore, if in location l4 (where water supplies are present) a human is detected, it has to perform a collaborative grasping action and help the human in placing new water supplies Ordered Patrolling, Instantaneous Reaction
SC2 Three robots are deployed within an hospital environment: a mobile platform (Summit [70]), a manipulator (PA10 [71]) and a mobile manipulator (Tiago [72]), identified in the following as MP, M and MM, respectively. The robot M is deployed in hospital storage; when items (e.g., towels) are needed by a nurse or doctors, M has to load them on the MP. MP should reach the location where the nurse is located. If the item is heavy (e.g., heavy medical equipment), MM should reach the location where the nurse is to help unloading the equipment. When MP and MM are not required for shipping items they are patrolling a set of locations to avoid unauthorized people entering restricted areas of the hospital (e.g., radiotherapy rooms). Patrolling, Instantaneous Reaction, Ordered Visit, Wait
SC3 A robot is developed within a university building to deliver coffee to employees. The robot reaches the coffee machine, uses the coffee machine to prepare the coffee and delivers it to the employee. Strict Ordered Visit, Instantaneous Reaction
SC4 A robot is deployed within a shop to check the presence of intruders during night time. It has to iteratively check for intruders and report on their presence Patrolling, Instantaneous Reaction
SC5 A robot is deployed within a company to notify employees in presence of a fire alarm. If a fire is detected, the robot is send to different areas of the company to ask employees to leave the building. Visit, Instantaneous Reaction


The pattern catalog supported the creation of mission requirements using the patterns above for the different scenarios. In all the scenarios, PsALM allowed the automatic creation of LTL mission specifications from the mission requirements without any human intervention. The mission specifications were then executed by the robots by relying on existing planners.


SC Video