{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T02:56:11Z","timestamp":1771469771860,"version":"3.50.1"},"reference-count":109,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T00:00:00Z","timestamp":1680307200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["RGPIN-2022-04622"],"award-info":[{"award-number":["RGPIN-2022-04622"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["DGECR-2022-0040"],"award-info":[{"award-number":["DGECR-2022-0040"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100014013","name":"UK Research and Innovation","doi-asserted-by":"publisher","award":["EP\/V026747\/1"],"award-info":[{"award-number":["EP\/V026747\/1"]}],"id":[{"id":"10.13039\/100014013","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Assuring Autonomy International Programme"},{"name":"Mexican National Council for Science and Technology"},{"name":"Centre of EXcellence on Connected"},{"name":"Geo-Localized and Cybersecure Vehicles"},{"name":"Italian Government"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IIEEE Trans. Software Eng."],"published-print":{"date-parts":[[2023,4,1]]},"DOI":"10.1109\/tse.2022.3230059","type":"journal-article","created":{"date-parts":[[2022,12,29]],"date-time":"2022-12-29T18:40:35Z","timestamp":1672339235000},"page":"2741-2760","source":"Crossref","is-referenced-by-count":15,"title":["Mission Specification Patterns for Mobile Robots: Providing Support for Quantitative Properties"],"prefix":"10.1109","volume":"49","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5303-8481","authenticated-orcid":false,"given":"Claudio","family":"Menghi","sequence":"first","affiliation":[{"name":"McMaster University, Hamilton, ON, Canada"}]},{"given":"Christos","family":"Tsigkanos","sequence":"additional","affiliation":[{"name":"University of Bern, Bern, Switzerland"}]},{"given":"Mehrnoosh","family":"Askarpour","sequence":"additional","affiliation":[{"name":"McMaster University, Hamilton, ON, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5438-2281","authenticated-orcid":false,"given":"Patrizio","family":"Pelliccione","sequence":"additional","affiliation":[{"name":"Gran Sasso Science Institute (GSSI), L'Aquila, AQ, Italy"}]},{"given":"Gricel","family":"V\u00e1zquez","sequence":"additional","affiliation":[{"name":"University of York, York, U.K."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2678-9260","authenticated-orcid":false,"given":"Radu","family":"Calinescu","sequence":"additional","affiliation":[{"name":"University of York, York, U.K."}]},{"given":"Sergio","family":"Garc\u00eda","sequence":"additional","affiliation":[{"name":"Volvo Cars Corporation, Gothenburg, Sweden"}]}],"member":"263","reference":[{"key":"ref1","first-page":"195","article-title":"On three-layer architectures","volume-title":"Artificial intelligence and mobile robots","author":"Gat","year":"1997"},{"key":"ref2","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-540-68951-5","volume-title":"Software Engineering for Experimental Robotics","volume":"30","author":"Brugali","year":"2007"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.932127"},{"key":"ref4","first-page":"593","article-title":"An empirical assessment of robotics software engineering","volume-title":"Proc. Eur. Softw. Eng. Conf. Symp. Found. Softw. Eng.","author":"Garcia"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10664-021-09956-6"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1145\/3365438.3410953"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/RE48521.2020.00038"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-006-9013-8"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907489"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9418-8"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ASE.2015.104"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/HASE.1997.648037"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ISRE.2001.948539"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2013.6739543"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s10270-020-00854-x"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-11900-7_17"},{"key":"ref17","article-title":"Missionlab v7.0, Mobile Robot Laboratory, College of Computing Georgia Institute of Technology","author":"Arkin"},{"key":"ref18","article-title":"Teambots","author":"Balch","year":"2004"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1145\/1960275.1960280"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1145\/2976767.2976794"},{"key":"ref21","first-page":"5","article-title":"PROMISE: High-level mission specification for multiple robots","volume-title":"Proc. Int. Conf. Softw. Eng. Companion","author":"Garc\u00eda"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1145\/2786805.2786824"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914546174"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650371"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-95582-7_24"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.942117"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2004.826285"},{"key":"ref28","first-page":"17","article-title":"On the software engineering challenges of applying reactive synthesis to robotics","volume-title":"Proc. Workshop Robot. Softw. Eng.","author":"Maoz"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2016.7844890"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-444-88074-1.50021-4"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2030225"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1145\/605466.605479"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s10515-007-0012-6"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1145\/302405.302672"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2019.2945329"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE-Companion.2019.00048"},{"key":"ref37","first-page":"434","article-title":"Property specification patterns for robotic missions","volume-title":"Proc. Int. Conf. Softw. Eng.","author":"Menghi"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-95582-7_24"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2454299"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2030225"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094884"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2008.08.008"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631295"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/IWSSD.1991.213082"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1145\/3357766.3359535"},{"key":"ref46","first-page":"107","article-title":"Intelligence without reason","volume":"3","author":"Brooks","year":"1991","journal-title":"Artif. Intell. Crit. Concepts"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/IRI-05.2005.1506537"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-68951-5_2"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-22110-1_47"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/BF01211866"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-40903-8_8"},{"key":"ref53","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1016\/S0927-0507(05)80172-0","article-title":"Markov decision processes","volume":"2","author":"Puterman","year":"1990","journal-title":"Handbooks Operations Res. Manage. Sci."},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2010.92"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-22110-1_47"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/TR.2015.2452931"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE.2005.1553580"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1145\/1368088.1368094"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2015.2398877"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794000"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487481"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2016.2571269"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2318999"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2878996"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2883829"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2344451"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/SIMPAR.2016.7862396"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139351"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2896401"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462967"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/SIMPAR.2018.8376275"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2875389"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1016\/j.jss.2020.110742"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487553"},{"key":"ref77","first-page":"1275","article-title":"Reasoning about distances","volume-title":"Proc. Int. Joint Conf. Artif. Intell.","author":"Wolter"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE43902.2021.00082"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-46029-2_13"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/QEST.2005.2"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-61474-5_75"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/SFCS.1977.32"},{"key":"ref87","article-title":"On algorithmic verification methods for probabilistic systems","author":"Baier","year":"1998"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/ASE.2015.22"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1007\/s10515-018-0235-8"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2948801"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/280207"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1155\/2010\/901365"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1155\/2021\/8142161"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2018.2859926"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-46681-0_16"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1145\/1244002.1244327"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45416-0_18"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE.2012.6227125"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1016\/j.jss.2020.110558"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1016\/j.jss.2020.110881"},{"key":"ref104","first-page":"1004","article-title":"Trace-checking signal-based temporal properties: A model-driven approach","volume-title":"Proc. Int. Conf. Automated Softw. Eng.","author":"Boufaied"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1117\/1.2819119"},{"key":"ref106","first-page":"1820","article-title":"Software design patterns for robotics: Solving integration problems with MARIE","volume-title":"Proc. Workshop Robotic Softw. Environ., Int. Conf. Robot. Automat.","author":"C\u00f4t\u00e9"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2882741"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-02675-6_35"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1145\/2556288.2557057"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2010.5453213"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1145\/3342355"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1109\/CCAC.2017.8276396"},{"key":"ref113","first-page":"1","article-title":"A survey of robot programming systems","volume-title":"Proc. Australas. Conf. Robot. Automat.","author":"Biggs"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1109\/ICMIC.2016.7804217"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1109\/ISM.2014.24"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-66494-7_12"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1145\/2786805.2786824"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460811"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1145\/3106237.3106299"}],"container-title":["IEEE Transactions on Software Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/32\/10103953\/10002712.pdf?arnumber=10002712","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,14]],"date-time":"2024-03-14T02:44:50Z","timestamp":1710384290000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10002712\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4,1]]},"references-count":109,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tse.2022.3230059","relation":{},"ISSN":["0098-5589","1939-3520","2326-3881"],"issn-type":[{"value":"0098-5589","type":"print"},{"value":"1939-3520","type":"electronic"},{"value":"2326-3881","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,4,1]]}}}