CCS Concepts:  
• Computer systems organization → External interfaces for robotics  
• Human-centered computing → User studies  
• Software and its engineering → Development frameworks and environments  

1 INTRODUCTION

2 BACKGROUND

3 METHODOLOGY

4 DOMAINS OF END-USER ROBOT PROGRAMMING

5 PHASES OF END-USER ROBOT PROGRAMMING

6 DESIGN OF END-USER ROBOT PROGRAMMING SYSTEMS

7 EVALUATION OF END-USER ROBOT PROGRAMMING SYSTEMS

8 DISCUSSION

9 CONCLUSION