A Survey on End-User Robot Programming

Abstract

As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual contextual needs. This article surveys work on end-user robot programming, with a focus on end-user program specification. It describes the primary domains, programming phases, and design choices represented by the end-user robot programming literature. The survey concludes by highlighting open directions for further investigation to enhance and widen the reach of end-user robot programming systems.CCS Concepts: • Computer systems organization → External interfaces for robotics; • Human-centered computing → User studies; Mixed / augmented reality; Graphical user interfaces; Natural language interfaces; • Software and its engineering → Development frameworks and environments.