Hierarchical Approach for Design of Multi-vehicle Multi-modal Embedded Software

Abstract

Abstract. Embedded systems composed of hardware and software components are designed to interact with a physical environment in real-time in order to fulfill control objectives and system specifications. In this paper, we address the complex design challenges in embedded software by focusing on predictive and systematic hierarchical design methodologies which promote system verification and validation. First, we advocate a mix of top-down, hierarchical design and bottom-up, component-based design for complex control systems. Second, it is our point of view that at the level closest to the environment under control, the embedded software needs to be time-triggered for guaranteed safety; at the higher levels, we advocate an asynchronous hybrid controller design. We briefly illustrate our approach through an embedded software design for the control of a group of autonomous vehicles.

Survey of Engineering Models for Systems Biology

“…It has been used in the formal design of distributed embedded control systems [85]. Other embedded applications are the design for flying autonomous multivehicle control [86] and high-energy particle physics data acquisition systems [87]. Lastly, it is used in the design of industrial intelligent manufacturing systems of distributed robotic manufacturing [88].…”

Design and Experimental Validation of UAV Control System Software Based on the TMO Structuring Scheme

“…Enabling the design of such systems in easily understandable forms that are amenable to rigorous analysis is a highly desirable goal. [5,6,8,10] The TMO (Time-triggered Message-triggered Object) model formalized earlier by Kim and his collaborators [1,2] has been found to be a sound real-time object model that can be used for various types of hard and soft real-time distributed computing applications. With the TMO model, both functional and timing behaviors of a system can be specified in explicit and natural easy-to-understand forms.…”