# Enabling End-Users in Designing and Executing of Complex, Collaborative Robotic Processes
* CoSTAR [34] a system that allows to use natural abstractions and perception in a way users can both understand and utilize to author plans using behavior trees and high-level information from perception of known objects. A certain skill for behaviour trees is needed. Also the behaviour elements needs to be programmed in a specific way for the targeted systems. * RAZER [35] is a software framework for task-level programming. The system targets both user groups, robotic experts and shop-floor workers. The first user group is supported by a web-based graphical interface providing robotic skills and their interface. The workers are supported by the graphical interface in creating tasks from parameterized skills. Although the system has been used to program various hardware, the focus is on robots. * ABB Wizard easy programming ([[https://new.abb.com/products/robotics/application-software/wizard](https://new.abb.com/products/robotics/application-software/wizard)]([https://new.abb.com/products/robotics/application-software/wizard](https://new.abb.com/products/robotics/application-software/wizard)), accessed on 8 May 2023) and ABB Robot Studio ([[https://new.abb.com/products/robotics/de/robotstudio](https://new.abb.com/products/robotics/de/robotstudio)]([https://new.abb.com/products/robotics/de/robotstudio](https://new.abb.com/products/robotics/de/robotstudio)), accessed on 8 May 2023) [36] are exemplary approaches provided by a company for their proprietary robotic systems. Wizard is the standard graphical programming interface for ABB cobots and uses a drag-and-drop paradigm as opposed to coding. The second system, the robot-studio allows off-line creation and programming of virtual twins of a robot. * LabVIEW [37] is graphical software for test, measurement, control and regulation applications. In the foreground are system developments and integration tasks that require quick access to the hardware and a detailed insight into the recorded data ([[https://www.ni.com/de-at/shop/software/products/labview.html](https://www.ni.com/de-at/shop/software/products/labview.html)]([https://www.ni.com/de-at/shop/software/products/labview.html](https://www.ni.com/de-at/shop/software/products/labview.html)), accessed on 8 May 2023). LabVIEW can be enhanced with robotic modules e.g., for LEGOTMMINDSTORMSTM Robot Inventor ([[https://www.lego.com/en-at/product/robot-inventor-51515](https://www.lego.com/en-at/product/robot-inventor-51515)]([https://www.lego.com/en-at/product/robot-inventor-51515](https://www.lego.com/en-at/product/robot-inventor-51515)), accessed on 8 May 2023) (which can be used stand-alone). As such the targeted user group are expert engineers for LabVIEW. For the MINDSTORMS system the (obvious) user group are kids interested in robotics. While these applications are highly valuable for making robot programming more accessible to end-users, they are partially constrained to certain use cases, application domains, commercial technology providers or specific hardware. In contrast to domain-specific approaches, interfaces for end-user-friendly robot programming that are applicable across different domains and hardware would bring remarkable benefits, since robotic tasks in different application domains are usually similar. For example, picking up an item and placing the item in another location is a task that is common in both industrial and healthcare domains [18]. Thus, applications that enable both the easy development of robot-based tasks and the exchange of tasks between different application domains bear great potential, as they can support transfer of knowledge between different domains, decrease redundancies, and ultimately reduce time and costs.