Towards a Robot Perception Specification Language
  In this paper we present our work in progress towards a domain-specific language called Robot Perception Specification Language (RPSL). RSPL provide means to specify the expected result (task knowledge) of a Robot Perception Architecture in a declarative and framework-independent manner. 
Nico Hochgeschwender and Sven Schneider and Holger Voos and Gerhard K.   Kraetzschmar
cs.RO