Sonya Alexandrova, Zachary Tatlock, and Maya Cakmak. Visual robot programming for generalizable mobile manipulation tasks. In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI '15. ACM, 2015.

General-purpose robots present the opportunity to be programmed for a specific purpose after deployment. This requires tools for end-users to quickly and intuitively program robots to perform useful tasks in new environments. In this paper, we present a flow-based visual programming language (VPL) for mobile manipulation tasks, demonstrate the generalizability of tasks programmed in this VPL, and present a preliminary user study of a development tool for this VPL.

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