R-Charon, a Modeling Language for Reconfigurable Hybrid Systems

  • Fabian Kratz
  • Oleg Sokolsky
  • George J. Pappas
  • Insup Lee
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3927)


This paper describes the modeling language R-Charon as an extension for architectural reconfiguration to the existing distributed hybrid system modeling language Charon. The target application domain of R-Charon includes but is not limited to modular reconfigurable robots and large-scale transportation systems.While largely leaving the Charon syntax and semantics intact, R-Charon allows dynamic creation and destruction of components (agents) as well as of links (references) between the agents. As such,R-Charon is the first formal, hybrid automata based modeling language which also addresses dynamic reconfiguration. We develop and present the syntax and operational semantics for R-Charon on three levels: behavior (modes), structure (agents) and configuration (system).


Hybrid System Modeling Language Global Variable Operational Semantic Discrete Step 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Fabian Kratz
    • 1
  • Oleg Sokolsky
    • 2
  • George J. Pappas
    • 2
  • Insup Lee
    • 2
  1. 1.Eindhoven University of Technology (TU/e)EindhovenThe Netherlands
  2. 2.University of PennsylvaniaPhiladelphiaUSA

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