Validation of real-time properties of a robotic software architecture
نویسندگان
چکیده
In this paper, we propose a mechanism allowing to evaluate the schedulability of a robotic software architecture, and then validate its real-time properties. The robotic software architecture is described through a Domain Speci c Language (DSL), MAUVE, that allows to model communicating components. The evaluation of schedulability of the architecture consists in rst computing the Worst-Case Execution Time (WCET) of the elementary functions of the components. Then the Worst Case Response Time (WCRT) of the component is computed from the elementary WCET and the component models, allowing to validate the schedulatiblity of the architecture. We illustrate our methodology on the evaluation of a control architecture for a ground mobile robot.
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تاریخ انتشار 2011