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

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.