R-Charon, a Modeling Language for Reconfigurable Hybrid Systems

This paper describes the modeling language 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). Comments Postprint version. Published in Lecture Notes in Computer Science, Volume 3927, Hybrid Systems: Computation and Control, 2006, pages 392-406. Publisher URL: http://dx.doi.org/10.1007/11730637_30 This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/cis_papers/257 R-Charon, a Modeling Language for Reconfigurable Hybrid Systems Fabian Kratz, Oleg Sokolsky, George J. Pappas, and Insup Lee 1 Eindhoven University of Technology (TU/e), Eindhoven, The Netherlands 2 University of Pennsylvania, Philadelphia, USA Abstract. 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). 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).