  Service robots act in open-ended, natural environments. Therefore, due to
combinatorial explosion of potential situations, it is not possible to foresee
all eventualities in advance during robot design. In addition, due to limited
resources on a mobile robot, it is not feasible to plan any action on demand.
Hence, it is necessary to provide a mechanism to express variability at
design-time that can be efficiently resolved on the robot at run-time based on
the then available information. In this paper, we introduce a DSL to express
run- time variability focused on the execution quality of the robot (in terms
of non-functional properties like safety and task efficiency) under changing
situations and limited resources. We underpin the applicability of our approach
by an example integrated into an overall robotics architecture.
