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We introduce\n            <jats:italic>PRogramAR<\/jats:italic>\n            (Programming Robots using Augmented Reality), a novel end-user robot programming system that combines the intuitive visual feedback of augmented reality (AR) with the simplistic and responsive paradigm of trigger-action programming (TAP) to facilitate human-robot collaboration. Through PRogramAR, users are able to rapidly author task rules and desired reactive robot behaviors, while specifying task constraints and observing program feedback contextualized directly in the real world. PRogramAR provides feedback by simulating the robot\u2019s intended behavior and providing instant evaluation of TAP rule executability to help end users better understand and debug their programs during development. In a system validation, 17 end users ranging from ages 18 to 83 used PRogramAR to program a robot to assist them in completing three collaborative tasks. Our results demonstrate how merging the benefits of AR and TAP using elements from prior robot programming research into a single novel system can successfully enhance the robot programming process for non-expert users.\n          <\/jats:p>","DOI":"10.1145\/3640008","type":"journal-article","created":{"date-parts":[[2024,1,12]],"date-time":"2024-01-12T11:15:40Z","timestamp":1705058140000},"page":"1-20","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":18,"title":["PRogramAR: Augmented Reality End-User Robot Programming"],"prefix":"10.1145","volume":"13","author":[{"given":"Bryce","family":"Ikeda","sequence":"first","affiliation":[{"name":"University of North Carolina at Chapel Hill, Chapel Hill USA"}]},{"given":"Daniel","family":"Szafir","sequence":"additional","affiliation":[{"name":"University of North Carolina at Chapel Hill, Chapel Hill USA"}]}],"member":"320","published-online":{"date-parts":[[2024,3,11]]},"reference":[{"issue":"8","key":"e_1_3_1_2_2","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3466819","article-title":"A survey on end-user robot programming","volume":"54","author":"Ajaykumar Gopika","year":"2021","unstructured":"Gopika Ajaykumar, Maureen Steele, and Chien-Ming Huang. 2021. 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