Coordination of Synchronous Programs

We propose to extend the synchronous language Esterel by coordination primitives and by an asynchronous parallel composition operation on the level of modules. This is to program reactive systems such that subsystems may proceed at their own speed without enforcing a global knowledge of time. We intend is to stick with the synchronous language paradigm as close as possible since we aim for properties such as local determinism (each agent/control unit should have a predictable behaviour) or global deadlock detection, though we want to enhance modularity and exibility of system design.