Animation in SVG and SMIL 2.0 Animation modules

Animation elements in SVG  Relationship to SMIL animation modules
set Same attributes and properties in SVG 1.0 and SMIL 2.0
animate Same attributes and properties in SVG 1.0 and SMIL 2.0
animateMotion  SVG 1.0 add to SMIL 2.0 animateMotion element
               mpath child
               keyPoints attribute
               rotate attribute

path attribute is in the SplineAnimation module since 2.0 specifications with same definitions as d element in SVG 1.0
animateColor Same attributes and properties  in SVG 1.0 and SMIL 2.0
animateTransform  This element don't exist in SMIL 2.0 specifications

Controling time:
The SplineAnimation module 2.0 add keyTimes keySplines attributes to animate, animateMotion and animateColor elements.

Target element:
The SMIL 2.0 Animation modules use targetElement or href (as XLink locator) attributes to indentify target for animation if animation element is not child of the target element.
SVG don't use targetElement attribute, only href is allowed as XLink locator with xlink namespace (xlink:href="#id_target" by example).