Towards a DSL for Perception-Based Safety Systems
  This paper is an extension to an early presented programming language, called a domain specific language. This paper extends the proposed concept with new sensors and behaviours to address real-life situations. The functionality was tested in lab experiments, and an extension to the earlier concepts is proposed. 
Johann Thor Mogensen Ingibergsson, Stefan-Daniel Suvei, Mikkel Kragh   Hansen, Peter Christiansen and Ulrik Pagh Schultz
cs.RO cs.PL