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

被引：0
作者：
Nicolas Gobillot
Charles Lesire
David Doose
机构：
[1] Ifremer,
[2] ONERA,undefined
来源：
Journal of Intelligent & Robotic Systems | 2019年 / 96卷
关键词：
Robotics software; Real-time analysis; Modelling language; 93C85; 68Q42; 68M20;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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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页码：123 / 138
页数：15
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