Robot Skills documentation

This website owns the documentation of the Robot Skills toolchain, including a description of the associated language as well as tools to generate ROS2 nodes, client libraries, GUI, etc.

Associated publications

[Lesire et al., 2020]	Formalization of robot skills with descriptive and operational models, C. Lesire, D. Doose, and C. Grand, IEEE Int. Conference on Intelligent Robots and Systems (IROS 2020).
[Albore et al., 2021]	Skill-Based Architecture Development for Online Mission Reconfiguration and Failure Management, A. Albore, D. Doose, C. Grand, C. Lesire, and A. Manecy, IEEE Int. Workshop on Robotics Software Engineering (RoSE 2021), Int. Conf. on Software Engineering, 2021.
[Medina et al., 2022]	A skill fault model for autonomous systems, G. Catalán Medina, J. Guiochet, C. Lesire, and A. Manecy, IEEE Int. Workshop on Robotics Software Engineering (RoSE 2022), Int. Conf. on Software Engineering, 2022.
[Pelletier et al., 2022]	SkiNet, A Petri Net Generation Tool for the Verification of Skillset-based Autonomous Systems, B. Pelletier, C. Lesire, D. Doose, K. Godary-Dejean and C. Dramé-Maigné, International Workshop on Formal Methods for Autonomous Systems (FMAS 2022).
[Pelletier et al., 2023]	Predictive Runtime Verification of Skill-based Robotic Systems using Petri Nets, B. Pelletier, C. Lesire, C. Grand, D. Doose, and M. Rognant, IEEE International Conference on Robotics and Automation (ICRA 2023).
[Albore et al., 2023]	Skill-based design of dependable robotic architectures, A. Albore, D. Doose, C. Grand, J. Guiochet, C. Lesire, and A. Manecy, Robotics and Autonomous Systems, 160:104318, doi 10.1016/j.robot.2022.104318, 2023 (HAL).
[Albore, 2024]	Decision-Making and Skill-based architectures for Autonomous Mobile Robots, A. Albore, Reasoning and Learning for Autonomous Agents, Agents Vic Autumn Symposium, 2024.	Download slides.
[Pelletier et al., 2025]	SkiNet: A User-Oriented Tool for Petri Net-Based Analysis of Robotic Skills, B. Pelletier, C. Lesire, and K. Godary-Dejean, Int. Conf. on Applications and Theory of Petri Nets and Concurrency, Lecture Notes in Computer Science, vol 15714. (PETRI 2025).
[Pelletier et al., 2025]	A formal framework for the specification and verification of robotic skills composition for autonomous behaviors, B. Pelletier, C. Lesire, and K. Godary-Dejean, Robotics and Autonomous Systems, 192:105041, doi 10.1016/j.robot.2025.105041, 2025 (ScienceDirect).
[Malafosse et al., 2025]	Skill-Based Architectures in Autonomous Systems: an Empirical Study, P. Malafosse, A. Albore, J. Guiochet, and C. Lesire, IEEE Int. Conference on Engineering Reliable Autonomous Systems (ERAS 2025).

Contents:

• Introduction
• Install instructions
• Robot Skill Language
  • Skillset
    • Skillset Data
    • Skillset Resource
    • Skillset Event
  • Skillset Skill
    • Skill Input and Output
    • Skill Preconditions and Start
    • Skill Invariant
    • Skill Progress
    • Skill Terminate
• Skillset Verification
  • Guard Verification
    • Event Verification
    • Skill precondition and invariant
  • Effects Verification
    • Event Verification
    • Skill Verification
• Tutorial
  • Robot Language Model
    • Data
    • Resources
    • Event
    • Skill
    • Complete Model
  • Code Generation
    • Create Workspace
    • Generate Skillset
    • Generate User Package
    • Preliminary tests
  • Skillset Implementation
    • ROS2 package configuration
    • Skillset Data
    • Move Forward Skill
    • Rotate Angle Skill
    • Authority Resource
    • Conclusion
  • Running the skillset
    • Prepare the workspace
    • Prepare turtlesim
    • Run the Skillset node
• References

Indices and tables

• Index

• Module Index

• Search Page