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Feature diagrams (FD) are a family of popular modelling languages used for engineering requirements in software product lines. FD were first introduced by Kang as part of the FODA (feature oriented domain analysis) method back in 1990, Since then, various extensions of FODA FD were devised to compensate for a purported ambiguity and lack of precision and expressiveness. However, they never received a proper formal semantics, which is the hallmark of precision and unambiguity as well as a prerequisite for efficient and safe tool automation, In this paper, we first survey FD variants. Subsequently, we generalize the various syntaxes through a generic construction called free feature diagrams (FFD). Formal semantics is defined at the FFD level, which provides unambiguous definition for ail the surveyed FD variants in one shot. All formalisation choices found a clear answer in the original FODA FD definition …