LUSTRE: a declarative language for real-time programming
POPL '87 Proceedings of the 14th ACM SIGACT-SIGPLAN symposium on Principles of programming languages
Fronts propagating with curvature-dependent speed: algorithms based on Hamilton-Jacobi formulations
Journal of Computational Physics
The ESTEREL synchronous programming language: design, semantics, implementation
Science of Computer Programming
Nonlinear Control Systems
Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications
Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications
Scheduling for Embedded Real-Time Systems
IEEE Design & Test
Symbolic Controller Synthesis for Discrete and Timed Systems
Hybrid Systems II
Hybrid Control Models of Next Generarion AIr Traffic Management
Hybrid Systems IV
Verification of Polyhedral-Invariant Hybrid Automata Using Polygonal Flow Pipe Approximations
HSCC '99 Proceedings of the Second International Workshop on Hybrid Systems: Computation and Control
Ellipsoidal Techniques for Reachability Analysis
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Level Set Methods for Computation in Hybrid Systems
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Mode Switching Synthesis for Reachability Specifications
HSCC '01 Proceedings of the 4th International Workshop on Hybrid Systems: Computation and Control
Control Synthesis for a Class of Hybrid Systems Subject to Configuration-Based Safety Constraints
HART '97 Proceedings of the International Workshop on Hybrid and Real-Time Systems
The Time-Triggered Architecture
ISORC '98 Proceedings of the The 1st IEEE International Symposium on Object-Oriented Real-Time Distributed Computing
Controllers for reachability specifications for hybrid systems
Automatica (Journal of IFAC)
A framework for comparing models of computation
IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems
Platform-Based Embedded Software Design for Multi-vehicle Multi-modal Systems
EMSOFT '02 Proceedings of the Second International Conference on Embedded Software
Synthesis of Robust Control Systems under Resource Constraints
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
SEUS'07 Proceedings of the 5th IFIP WG 10.2 international conference on Software technologies for embedded and ubiquitous systems
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Embedded systems composed of hardware and software components are designed to interact with a physical environment in real-time in order to fulfill control objectives and system specifications. In this paper, we address the complex design challenges in embedded software by focusing on predictive and systematic hierarchical design methodologies which promote system verification and validation. First, we advocate a mix of top-down, hierarchical design and bottom-up, component-based design for complex control systems. Second, it is our point of view that at the level closest to the environment under control, the embedded software needs to be time-triggered for guaranteed safety; at the higher levels, we advocate an asynchronous hybrid controller design. We briefly illustrate our approach through an embedded software design for the control of a group of autonomous vehicles.