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In these settings, human behavior is essentially unconstrained as they can stray from the plan in numerous ways, constituting a critical source of uncertainty for the outcome of the robotic mission. Application designers require accessible and reliable frameworks to address this issue at an early development stage. We present a model-driven framework for developing interactive service robotic scenarios, allowing designers to model the interactive scenario, estimate its outcome, deploy the application, and smoothly reconfigure it. This article extends the framework compared to previous works by introducing an analysis of the impact of human errors on the mission\u2019s outcome. The core of the framework is a formal model of the agents at play\u2014the humans and the robots\u2014and the robotic mission under analysis, which is subject to statistical model checking to estimate the mission\u2019s outcome. The formal model incorporates a formalization of different human erroneous behaviors\u2019 phenotypes, whose likelihood can be tuned while configuring the scenario. 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