The ORCCAD programming environment for robotic systems allows users to address automatic control laws in continuous time at the lower levels, and aspects of discrete-time logic at the higher lev els. ORCCAD provides tools of specification, formal verification, simulation, and real-time code generation integrated within a set of dedicated graphical interfaces. Basic robot actions, which are in trinsically hybrid entities, are handled by the ROBOT-TASK struc ture, which smartly interfaces aspects of continuous and discrete time. ROBOT-TASKS are further logically composed into more complex actions, ROBOT-PROCEDURES, through a dedicated lan guage. While system performance can be checked using simula tions, crucial properties such as deadlock avoidance, safety, and liveness can be formally verified at both levels. The approach is illustrated with an underwater inspection mission.

HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

No abstract

No abstract

The ORCCAD programming environment for robotic systems gathers control laws in continuous time at the low levels and discrete time logical aspects at higher levels. Based upon a formal definition of robotic actions, complex applications can be designed, verified and generated incrementally. The approach and tools prototypes have been validated through several applications.