Hierarchical modeling and analysis of embedded systems

Rajeev Alur, University of Pennsylvania
Thao Dang, University of Pennsylvania
Joel Esposito, University of Pennsylvania
Yerang Hur, University of Pennsylvania
Franjo Ivancic, University of Pennsylvania
R. Vijay Kumar, University of Pennsylvania
Insup Lee, University of Pennsylvania
Pradyumna Mishra, University of Pennsylvania
George J. Pappas, University of Pennsylvania
Oleg V. Sokolsky, University of Pennsylvania

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Copyright 2003 IEEE. Reprinted from Proceedings of the IEEE, Volume 91, Issue 1, January 2003, pages 11-28.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=26369&puNumber=5

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Abstract

This paper describes the modeling language CHARON for modular design of interacting hybrid systems. The language allows specification of architectural as well as behavioral hierarchy and discrete as well as continuous activities. The modular structure of the language is not merely syntactic, but is exploited by analysis tools and is supported by a formal semantics with an accompanying compositional theory of refinement. We illustrate the benefits of CHARON in the design of embedded control software using examples from automated highways concerning vehicle coordination.