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A Design and Analysis Methodology for Component-Based Real-Time Architectures of Autonomous Systems

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Abstract

The integration of autonomous robots in real applications is a challenge. It needs that the behaviour of these robots is proved to be safe. In this paper, we focus on the real-time software embedded on the robot, and that supports the execution of safe and autonomous behaviours. We propose a methodology that goes from the design of component-based software architectures using a Domain Specific Language, to the analysis of the real-time constraints that arise when considering the safety of software applications. This methodology is supported by a code generation toolchain that ensures that the code eventually executed on the robot is consistent with the analysis performed. This methodology is applied on a ground robot exploring an area. Categories (2), (3)

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Correspondence to Nicolas Gobillot.

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Gobillot, N., Lesire, C. & Doose, D. A Design and Analysis Methodology for Component-Based Real-Time Architectures of Autonomous Systems. J Intell Robot Syst 96, 123–138 (2019). https://doi.org/10.1007/s10846-018-0967-5

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Keywords

  • Robotics software
  • Real-time analysis
  • Modelling language

Mathematics Subject Classification (2010)

  • 93C85
  • 68Q42
  • 68M20