As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual contextual needs. This article surveys work on end-user robot programming, with a focus on end-user program specification. It describes the primary domains, programming phases, and design choices represented by the end-user robot programming literature. The survey concludes by highlighting open directions for further investigation to enhance and widen the reach of end-user robot programming systems.
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