Chapter

Embedded Software

Volume 2491 of the series Lecture Notes in Computer Science pp 32-45

Date:

Platform-Based Embedded Software Design for Multi-vehicle Multi-modal Systems

  • T. John KooAffiliated withDepartment of Electrical Engineering and Computer Sciences, University of California at Berkeley
  • , Judith LiebmanAffiliated withDepartment of Electrical Engineering and Computer Sciences, University of California at Berkeley
  • , Cedric MaAffiliated withDepartment of Electrical Engineering and Computer Sciences, University of California at Berkeley
  • , Benjamin HorowitzAffiliated withDepartment of Electrical Engineering and Computer Sciences, University of California at Berkeley
  • , Alberto Sangiovanni-VincentelliAffiliated withDepartment of Electrical Engineering and Computer Sciences, University of California at Berkeley
  • , Shankar SastryAffiliated withDepartment of Electrical Engineering and Computer Sciences, University of California at Berkeley

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Abstract

In this paper, we present a methodology for the design of embedded controllers for multi-vehicle multi-modal systems. Our methodology is predicated upon the principles of platform-based design, which uses layers of abstraction to isolate applications from low-level system details and yet provides enough information about the important parameters of the lower layers of abstraction, to modularize the system design and to provide predictable system performance. An essential layer of abstraction in our methodology is the software platform provided by the programming language Giotto, which allows a clean implementation of a time-based controller application. Our methodology includes a hardware-in-the-loop simulation framework, in which system components can be replaced by actual implementation for high-fidelity simulation. To demonstrate the effectiveness of our design methodology, a helicopter-based unmanned aerial vehicle system is presented. We present simulation results which validate the quality of our embedded control system implementation.