We describe a framework that combines a software
development paradigm, a software visualization technique,
and a tool for robot programming. This infrastructure is called
"Graphical State Space Programming" (GSSP), and allows
robot application programs to be decomposed and visualized
within state-dependent views. Our approach simplifies and
expedites the programming process for robot routines and
behaviors, and we examine the performance improvement that
ensues through a set of controlled user studies. The usability
and effectiveness of GSSP are also illustrated using a field
demonstration with an aerial robotic vehicle.