A Survey on End-User Robot Programming

TL;DR

This survey reviews the current state of end-user robot programming, focusing on how non-experts can customize robots, and discusses future research directions to broaden its accessibility and effectiveness.

Contribution

It provides a comprehensive overview of end-user robot programming, detailing domains, phases, design choices, and identifying open challenges for future work.

Findings

Identifies key domains and phases in end-user robot programming

Highlights design choices impacting usability and effectiveness

Suggests open research directions to expand accessibility

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.