Usability benchmarks of the Targets-Drives-Means robotic architecture

Even for robots delivered with a middleware, end-user implementation of reaction and deliberation remains a difficult task. We proposed Targets Drives Means (TDM), a behavior based architecture which level of abstraction allows behavior specification through declarative association of reusable components. If behavior based robotic has been broadly used in specialized architectures, TDM implemented it for end-users tools for behavior specification. In this paper TDM is evaluated as a solution for end-user robot programming and results of comparative usability tests are presented.