Rigorous design of robot software: A formal component-based approach
Robotics and Autonomous Systems
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Correct and efficient implementation of open real-time systems is still a costly and error-prone process. We present a rigorous model-based implementation method of such systems based on the use of two models: (i) an abstract model representing the interactions between the environment and the application and its timing behavior without considering any execution platform, (ii) a physical model representing the behavior of the abstract model running on a given platform by taking into account execution times. We define an Execution Engine that performs the online computation of schedules for a given application so as to meet its timing constraints. In contrast to standard even-driven programming techniques, our method allows static analysis and online checking of essential properties such as time-safety and time-robustness. We implemented the Execution Engine for BIP programs and validated our method for a module of an autonomous rover.