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This paper presents a novel approach for development of complex real-time systems, called the documentation-driven development (DDD) approach. This approach can enhance integration of computer aided software development activities, which encompass the entire life cycle. DDD will provide a mechanism to monitor and quickly respond to changes in requirements and provide a friendly communication and collaboration environment to enable different stakeholders to be easily involved in development processes and, therefore, significantly improve the agility of software development for complex real-time systems. DDD will also support automated software generation based on a computational model and some relevant techniques. DDD includes two main parts: a documentation management system (DMS) and a process measurement system (PMS). DMS will create, organize, monitor, analyze, and transform all documentation associated with the software development process. PMS will monitor the frequent changes in requirements and assess the effort and success possibility of development. A case study was conducted by a tool set that realized part of the proposed approach.