Mauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications.

Charles Lesire (1) , David Doose (1) , Hugues Cassé (2, 3)

1 ONERA - The French Aerospace Lab [Toulouse]
2 IRIT-TRACES - Groupe de Recherche en Architecture et Compilation pour les systèmes embarqués
3 UT3 - Université Toulouse III - Paul Sabatier

Robots are more and more used in very diverse situations (services to persons, military missions, crisis management, . . . ) in which robots must give some guarantees of safety and reliability. To be really integrated in everyday life, robots must fulfil some requirements. Among these requirements, we focus on the nonfunctional requirements on embedded software [1], and more specifically on real-time software requirements. These requirements are most of the time fulfilled by proving the schedulability of the embedded software. Analysing and validating such properties on an existing hand-coded software requires some reverse modelling of the software, leading to approximations of its behaviour. These approximations may have certification authorities not be confident on the robot dependability. This paper proposes an integrated development methodology that starts from software component modelling, and leads to both validation of the embedded software and generation of deployable embedded software.

Mots clés: ROBOTICS; COMPONENT; SOFTWARE; MODELLING; VALIDATION; REAL-TIME

Domaines: Automatique / Robotique

Charles Lesire, David Doose, Hugues Cassé. Mauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications.. 7th full day Workshop on Software Development and Integration in Robotics (ICRA2012 - SDIR VII), May 2012, MINNESOTA, United States. ⟨hal-01060327⟩